{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "c017196f",
   "metadata": {},
   "source": [
    "# Output feedback control using LQR and extended Kalman filtering\n",
    "RMM, 14 Feb 2022\n",
    "\n",
    "This notebook illustrates the implementation of an extended Kalman filter and the use of the estimated state for LQR feedback of a vectored thrust aircraft model."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "544525ab",
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib.patches as patches\n",
    "import control as ct"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "859834cf",
   "metadata": {},
   "source": [
    "## System definition\n",
    "We consider a (planar) vertical takeoff and landing aircraft model:\n",
    "\n",
    "![PVTOL diagram](https://murray.cds.caltech.edu/images/murray.cds/7/7d/Pvtol-diagram.png)\n",
    "\n",
    "The dynamics of the system with disturbances on the $x$ and $y$ variables are given by\n",
    "\n",
    "$$\n",
    "  \\begin{aligned}\n",
    "    m \\ddot x &= F_1 \\cos\\theta - F_2 \\sin\\theta - c \\dot x + d_x, \\\\\n",
    "    m \\ddot y &= F_1 \\sin\\theta + F_2 \\cos\\theta - c \\dot y - m g + d_y, \\\\\n",
    "    J \\ddot \\theta &= r F_1.\n",
    "  \\end{aligned}\n",
    "$$\n",
    "\n",
    "The measured values of the system are the position and orientation,\n",
    "with added noise $n_x$, $n_y$, and $n_\\theta$:\n",
    "\n",
    "$$\n",
    "  \\vec y = \\begin{bmatrix} x \\\\ y \\\\ \\theta \\end{bmatrix} + \n",
    "  \\begin{bmatrix} n_x \\\\ n_y \\\\ n_z \\end{bmatrix}.\n",
    "$$"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "198a068d",
   "metadata": {},
   "source": [
    "The dynamics are defined in the `pvtol` module:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "ffafed74",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "<FlatSystem>: pvtol\n",
      "Inputs (2): ['F1', 'F2']\n",
      "Outputs (6): ['x0', 'x1', 'x2', 'x3', 'x4', 'x5']\n",
      "States (6): ['x0', 'x1', 'x2', 'x3', 'x4', 'x5']\n",
      "Parameters: ['m', 'J', 'r', 'g', 'c']\n",
      "\n",
      "Update: <function _pvtol_update at 0x13771c0e0>\n",
      "Output: <function _pvtol_output at 0x13771c360>\n",
      "\n",
      "Forward: <function _pvtol_flat_forward at 0x13771c400>\n",
      "Reverse: <function _pvtol_flat_reverse at 0x13771e2a0> \n",
      "\n",
      "<NonlinearIOSystem>: pvtol_noisy\n",
      "Inputs (7): ['F1', 'F2', 'Dx', 'Dy', 'Nx', 'Ny', 'Nth']\n",
      "Outputs (6): ['x0', 'x1', 'x2', 'x3', 'x4', 'x5']\n",
      "States (6): ['x0', 'x1', 'x2', 'x3', 'x4', 'x5']\n",
      "\n",
      "Update: <function _noisy_update at 0x13771e7a0>\n",
      "Output: <function _noisy_output at 0x13771e840>\n"
     ]
    }
   ],
   "source": [
    "# pvtol = nominal system (no disturbances or noise)\n",
    "# pvtol_noisy = pvtol w/ process disturbances and sensor noise\n",
    "from pvtol import pvtol, pvtol_noisy, plot_results\n",
    "\n",
    "# Find the equiblirum point corresponding to the origin\n",
    "xe, ue = ct.find_eqpt(\n",
    "    pvtol, np.zeros(pvtol.nstates),\n",
    "    np.zeros(pvtol.ninputs), [0, 0, 0, 0, 0, 0],\n",
    "    iu=range(2, pvtol.ninputs), iy=[0, 1])\n",
    "\n",
    "x0, u0 = ct.find_eqpt(\n",
    "    pvtol, np.zeros(pvtol.nstates),\n",
    "    np.zeros(pvtol.ninputs), np.array([2, 1, 0, 0, 0, 0]),\n",
    "    iu=range(2, pvtol.ninputs), iy=[0, 1])\n",
    "\n",
    "# Extract the linearization for use in LQR design\n",
    "pvtol_lin = pvtol.linearize(xe, ue)\n",
    "A, B = pvtol_lin.A, pvtol_lin.B\n",
    "\n",
    "print(pvtol, \"\\n\")\n",
    "print(pvtol_noisy)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "be6ec05c",
   "metadata": {},
   "source": [
    "We also define the properties of the disturbances, noise, and initial conditions:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "1e1ee7c9",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Disturbance and noise intensities\n",
    "Qv = np.diag([1e-2, 1e-2])\n",
    "Qw = np.array([[2e-4, 0, 1e-5], [0, 2e-4, 1e-5], [1e-5, 1e-5, 1e-4]])\n",
    "Qwinv = np.linalg.inv(Qw)\n",
    "\n",
    "# Initial state covariance\n",
    "P0 = np.eye(pvtol.nstates)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e4c52c73",
   "metadata": {},
   "source": [
    "## Control system design\n",
    "\n",
    "We start be defining an extended Kalman filter to estimate the state of the system from the measured outputs."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "3647bf15",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "<NonlinearIOSystem>: sys[1]\n",
      "Inputs (5): ['x0', 'x1', 'x2', 'F1', 'F2']\n",
      "Outputs (6): ['xh0', 'xh1', 'xh2', 'xh3', 'xh4', 'xh5']\n",
      "States (42): ['x[0]', 'x[1]', 'x[2]', 'x[3]', 'x[4]', 'x[5]', 'x[6]', 'x[7]', 'x[8]', 'x[9]', 'x[10]', 'x[11]', 'x[12]', 'x[13]', 'x[14]', 'x[15]', 'x[16]', 'x[17]', 'x[18]', 'x[19]', 'x[20]', 'x[21]', 'x[22]', 'x[23]', 'x[24]', 'x[25]', 'x[26]', 'x[27]', 'x[28]', 'x[29]', 'x[30]', 'x[31]', 'x[32]', 'x[33]', 'x[34]', 'x[35]', 'x[36]', 'x[37]', 'x[38]', 'x[39]', 'x[40]', 'x[41]']\n",
      "\n",
      "Update: <function estimator_update at 0x13771f6a0>\n",
      "Output: <function <lambda> at 0x13771f7e0>\n"
     ]
    }
   ],
   "source": [
    "# Define the disturbance input and measured output matrices\n",
    "F = np.array([[0, 0], [0, 0], [0, 0], [1, 0], [0, 1], [0, 0]])\n",
    "C = np.eye(3, 6)\n",
    "\n",
    "# Estimator update law\n",
    "def estimator_update(t, x, u, params):\n",
    "    # Extract the states of the estimator\n",
    "    xhat = x[0:pvtol.nstates]\n",
    "    P = x[pvtol.nstates:].reshape(pvtol.nstates, pvtol.nstates)\n",
    "\n",
    "    # Extract the inputs to the estimator\n",
    "    y = u[0:3]                  # just grab the first three outputs\n",
    "    u = u[3:5]                  # get the inputs that were applied as well\n",
    "\n",
    "    # Compute the linearization at the current state\n",
    "    A = pvtol.A(xhat, u)        # A matrix depends on current state\n",
    "    # A = pvtol.A(xe, ue)       # Fixed A matrix (for testing/comparison)\n",
    "    \n",
    "    # Compute the optimal again\n",
    "    L = P @ C.T @ Qwinv\n",
    "\n",
    "    # Update the state estimate\n",
    "    xhatdot = pvtol.updfcn(t, xhat, u, params) - L @ (C @ xhat - y)\n",
    "\n",
    "    # Update the covariance\n",
    "    Pdot = A @ P + P @ A.T - P @ C.T @ Qwinv @ C @ P + F @ Qv @ F.T\n",
    "\n",
    "    # Return the derivative\n",
    "    return np.hstack([xhatdot, Pdot.reshape(-1)])\n",
    "\n",
    "estimator = ct.NonlinearIOSystem(\n",
    "    estimator_update, lambda t, x, u, params: x[0:pvtol.nstates],\n",
    "    states=pvtol.nstates + pvtol.nstates**2,\n",
    "    inputs= pvtol_noisy.state_labels[0:3] \\\n",
    "        + pvtol_noisy.input_labels[0:pvtol.ninputs],\n",
    "    outputs=[f'xh{i}' for i in range(pvtol.nstates)],\n",
    ")\n",
    "print(estimator)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "8c97626d",
   "metadata": {},
   "source": [
    "We now define an LQR controller, using a physically motivated weighting:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "9787db61",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "<StateSpace>: sys[2]\n",
      "Inputs (14): ['xd[0]', 'xd[1]', 'xd[2]', 'xd[3]', 'xd[4]', 'xd[5]', 'ud[0]', 'ud[1]', 'xh0', 'xh1', 'xh2', 'xh3', 'xh4', 'xh5']\n",
      "Outputs (2): ['F1', 'F2']\n",
      "States (0): []\n",
      "\n",
      "A = []\n",
      "\n",
      "B = []\n",
      "\n",
      "C = []\n",
      "\n",
      "D = [[-3.16227766e+00 -1.31948922e-07  8.67680175e+00 -2.35855555e+00\n",
      "      -6.98881821e-08  1.91220852e+00  1.00000000e+00  0.00000000e+00\n",
      "       3.16227766e+00  1.31948922e-07 -8.67680175e+00  2.35855555e+00\n",
      "       6.98881821e-08 -1.91220852e+00]\n",
      "     [-1.31948921e-06  3.16227766e+00 -2.32324826e-07 -2.36396240e-06\n",
      "       4.97998224e+00  7.90913276e-08  0.00000000e+00  1.00000000e+00\n",
      "       1.31948921e-06 -3.16227766e+00  2.32324826e-07  2.36396240e-06\n",
      "      -4.97998224e+00 -7.90913276e-08]] \n",
      "\n",
      "<InterconnectedSystem>: sys[3]\n",
      "Inputs (13): ['xd[0]', 'xd[1]', 'xd[2]', 'xd[3]', 'xd[4]', 'xd[5]', 'ud[0]', 'ud[1]', 'Dx', 'Dy', 'Nx', 'Ny', 'Nth']\n",
      "Outputs (14): ['x0', 'x1', 'x2', 'x3', 'x4', 'x5', 'F1', 'F2', 'xh0', 'xh1', 'xh2', 'xh3', 'xh4', 'xh5']\n",
      "States (48): ['pvtol_noisy_x0', 'pvtol_noisy_x1', 'pvtol_noisy_x2', 'pvtol_noisy_x3', 'pvtol_noisy_x4', 'pvtol_noisy_x5', 'sys[1]_x[0]', 'sys[1]_x[1]', 'sys[1]_x[2]', 'sys[1]_x[3]', 'sys[1]_x[4]', 'sys[1]_x[5]', 'sys[1]_x[6]', 'sys[1]_x[7]', 'sys[1]_x[8]', 'sys[1]_x[9]', 'sys[1]_x[10]', 'sys[1]_x[11]', 'sys[1]_x[12]', 'sys[1]_x[13]', 'sys[1]_x[14]', 'sys[1]_x[15]', 'sys[1]_x[16]', 'sys[1]_x[17]', 'sys[1]_x[18]', 'sys[1]_x[19]', 'sys[1]_x[20]', 'sys[1]_x[21]', 'sys[1]_x[22]', 'sys[1]_x[23]', 'sys[1]_x[24]', 'sys[1]_x[25]', 'sys[1]_x[26]', 'sys[1]_x[27]', 'sys[1]_x[28]', 'sys[1]_x[29]', 'sys[1]_x[30]', 'sys[1]_x[31]', 'sys[1]_x[32]', 'sys[1]_x[33]', 'sys[1]_x[34]', 'sys[1]_x[35]', 'sys[1]_x[36]', 'sys[1]_x[37]', 'sys[1]_x[38]', 'sys[1]_x[39]', 'sys[1]_x[40]', 'sys[1]_x[41]']\n",
      "\n",
      "Subsystems (3):\n",
      " * <NonlinearIOSystem pvtol_noisy: ['F1', 'F2', 'Dx', 'Dy', 'Nx', 'Ny', 'Nth']\n",
      "    -> ['x0', 'x1', 'x2', 'x3', 'x4', 'x5']>\n",
      " * <StateSpace sys[2]: ['xd[0]', 'xd[1]', 'xd[2]', 'xd[3]', 'xd[4]', 'xd[5]',\n",
      "    'ud[0]', 'ud[1]', 'xh0', 'xh1', 'xh2', 'xh3', 'xh4', 'xh5'] -> ['F1',\n",
      "    'F2']>\n",
      " * <NonlinearIOSystem sys[1]: ['x0', 'x1', 'x2', 'F1', 'F2'] -> ['xh0', 'xh1',\n",
      "    'xh2', 'xh3', 'xh4', 'xh5']>\n",
      "\n",
      "Connections:\n",
      " * pvtol_noisy.F1 <- sys[2].F1\n",
      " * pvtol_noisy.F2 <- sys[2].F2\n",
      " * pvtol_noisy.Dx <- Dx\n",
      " * pvtol_noisy.Dy <- Dy\n",
      " * pvtol_noisy.Nx <- Nx\n",
      " * pvtol_noisy.Ny <- Ny\n",
      " * pvtol_noisy.Nth <- Nth\n",
      " * sys[2].xd[0] <- xd[0]\n",
      " * sys[2].xd[1] <- xd[1]\n",
      " * sys[2].xd[2] <- xd[2]\n",
      " * sys[2].xd[3] <- xd[3]\n",
      " * sys[2].xd[4] <- xd[4]\n",
      " * sys[2].xd[5] <- xd[5]\n",
      " * sys[2].ud[0] <- ud[0]\n",
      " * sys[2].ud[1] <- ud[1]\n",
      " * sys[2].xh0 <- sys[1].xh0\n",
      " * sys[2].xh1 <- sys[1].xh1\n",
      " * sys[2].xh2 <- sys[1].xh2\n",
      " * sys[2].xh3 <- sys[1].xh3\n",
      " * sys[2].xh4 <- sys[1].xh4\n",
      " * sys[2].xh5 <- sys[1].xh5\n",
      " * sys[1].x0 <- pvtol_noisy.x0\n",
      " * sys[1].x1 <- pvtol_noisy.x1\n",
      " * sys[1].x2 <- pvtol_noisy.x2\n",
      " * sys[1].F1 <- sys[2].F1\n",
      " * sys[1].F2 <- sys[2].F2\n",
      "\n",
      "Outputs:\n",
      " * x0 <- pvtol_noisy.x0\n",
      " * x1 <- pvtol_noisy.x1\n",
      " * x2 <- pvtol_noisy.x2\n",
      " * x3 <- pvtol_noisy.x3\n",
      " * x4 <- pvtol_noisy.x4\n",
      " * x5 <- pvtol_noisy.x5\n",
      " * F1 <- sys[2].F1\n",
      " * F2 <- sys[2].F2\n",
      " * xh0 <- sys[1].xh0\n",
      " * xh1 <- sys[1].xh1\n",
      " * xh2 <- sys[1].xh2\n",
      " * xh3 <- sys[1].xh3\n",
      " * xh4 <- sys[1].xh4\n",
      " * xh5 <- sys[1].xh5\n"
     ]
    }
   ],
   "source": [
    "# Shoot for 1 cm error in x, 10 cm error in y.  Try to keep the angle\n",
    "# less than 5 degrees in making the adjustments.  Penalize side forces\n",
    "# due to loss in efficiency.\n",
    "#\n",
    "\n",
    "Qx = np.diag([100, 10, (180/np.pi) / 5, 0, 0, 0])\n",
    "Qu = np.diag([10, 1])\n",
    "K, _, _ = ct.lqr(A, B, Qx, Qu)\n",
    "\n",
    "#\n",
    "# Control system construction: combine LQR w/ EKF\n",
    "#\n",
    "# Use the linearization around the origin to design the optimal gains\n",
    "# to see how they compare to the final value of P for the EKF\n",
    "#\n",
    "\n",
    "# Construct the state feedback controller with estimated state as input\n",
    "statefbk, _ = ct.create_statefbk_iosystem(pvtol, K, estimator=estimator)\n",
    "print(statefbk, \"\\n\")\n",
    "\n",
    "# Reconstruct the control system with the noisy version of the process\n",
    "# Create a closed loop system around the controller\n",
    "clsys = ct.interconnect(\n",
    "    [pvtol_noisy, statefbk, estimator],\n",
    "    inplist = statefbk.input_labels[0:pvtol.ninputs + pvtol.nstates] + \\\n",
    "        pvtol_noisy.input_labels[pvtol.ninputs:],\n",
    "    inputs = statefbk.input_labels[0:pvtol.ninputs + pvtol.nstates] + \\\n",
    "        pvtol_noisy.input_labels[pvtol.ninputs:],\n",
    "    outlist = pvtol.output_labels + statefbk.output_labels + estimator.output_labels,\n",
    "    outputs = pvtol.output_labels + statefbk.output_labels + estimator.output_labels\n",
    ")\n",
    "print(clsys)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7bf558a0",
   "metadata": {},
   "source": [
    "## Simulations\n",
    "\n",
    "We now simulate the response of the system, starting with an instantiation of the noise:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "c2583a0e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Create the time vector for the simulation\n",
    "Tf = 10\n",
    "T = np.linspace(0, Tf, 1000)\n",
    "\n",
    "# Create representative process disturbance and sensor noise vectors\n",
    "np.random.seed(117)           # avoid figures changing from run to run\n",
    "V = ct.white_noise(T, Qv) # smaller disturbances and noise then design\n",
    "W = ct.white_noise(T, Qw)\n",
    "plt.plot(T, V[0], label=\"V[0]\")\n",
    "plt.plot(T, W[0], label=\"W[0]\")\n",
    "plt.legend();"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4d944709",
   "metadata": {},
   "source": [
    "### LQR with EKF"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "ad7a9750",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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ugok3ERER9TmCICCnrAbpF8uRkVOOjIvlOFNciZadb3zd5RgX7Y+EaH+Mi/bHmEg/eCr48YmIiDqH7xxERETU62l1epy4rEHGxXKkXypDxqUKlFRpW+03INCzMdEOQMIAfwwO9oaU87OJiKibmHgTERFRr1NWXY+MS8Yk+/ClchzJU6NeZ9ltXCGTIq6/LxIGBCA+2h/jovwR7KMUKWIiIurNmHgTERGRS9PpDfitsBKZuRXIyqlAZk45LpRUt9ovwEuB+Gh/4/zsaH/E9VfB3Y3LehERkeMx8SYiIiKXUqypw+GcCmTmliMzpwLH8tSobdC32m9IiHdToj0gAAPYbZyIiETCxJuIiIicVl2DcW52Zk65uaKdX1Hbaj8fdznGRPphbJQ/xkb6YWyUH/w8FSJETERE1BoTbyIiInIKgiAgr7wWh3OMlezM3AqcvKxGg96y1bhUAgwN9TEm2VF+GBflh4FBbIJGRETOi4k3ERERiaJKq8PRvApjkp1TgazccpRU1bfaL8hbgTGRxiR7bJQfRkX4wVvJjzBEROQ6+K5FREREDmcwCDh/pQqZuaZEuxxniiphaLFutptMghHhKvNw8XFR/ojw9+DcbCIicmlMvImIiMiuTEPGj+apcTSvAkfyKnA8X4Mqra7Vvv39PDAmyq8x0fbHyHBfdhonIqJeh4k3ERERdUtJlRZH8yqQlWtMtI/lqVFa3XrIuIebDFdFqIxDxhuHjof6uosQMRERUc9i4k1EREQ209Q14HieGkcaq9lH89RWu4zLpRIMD/PBqAg/jInww6hIFQYHe0Muk4oQNRERkbiYeBMREZFVdQ16nCzQ4GiuMcE+kleB81eqW+0nkQCDgr0xKkKF0RF+GBWhQmwYh4wTERGZMPEmIiIi6PQGnC2uapyTrcaR3AqcLqyErmX3MxjnZY+OVGFUhB9GR/ghrr8vfNzdRIiaiIjINTDxJiIi6mMEQcCl0hocaRwqfiS3Aicua1DboG+1b6CXAqMj/czV7KsiVAjyVooQNRERketi4k1ERNTLFWvqkNVsuPjRPDXUtQ2t9vNWynFVfxVGRTYNGe/vx6W8iIiIuouJNxERUS+irm3AMXOCXYEjuWoUaupa7aeQSzEizBejIxqHjEf6YWCQF6RSJtlERET2xsSbiIjIRdU16HHisqYxwTZWsi+UtG5+JpUAQ0J8LOZlD+vnA4WcHcaJiIh6AhNvIiIiF2BqfnYkt8K8lFdbzc8iAzwwujHBHhWhQlx/FbyUfMsnIiISC9+FiYiInExnmp8FeSubDRc3/jfASyFC1ERERNQWJt5EREQiK63SIiu3wnw7lq9GRU3bzc9GR/oZk+1IP4Sr3Nn8jIiIyMkx8SYiIupBWp0eJy9rkJVbgcwcY6KdU1bTaj+FTIrYcF+MYfMzIiIil+dyifeaNWvw6quvoqCgACNHjsTq1asxZcqUNvfXarVYuXIlPv30UxQWFiIiIgLPPPMM7rvvvh6MmoiI+iJBEJBXXovDOeXmRPvkZQ3q9YZW+w4O8caYSGOCPYbNz4iIiHoVl0q8N23ahGXLlmHNmjWYPHky3nvvPcycORMnT55EVFSU1WPuuOMOFBUV4YMPPsDgwYNRXFwMnU7Xw5ETEVFfoKlrwNFcNbJyy83V7NLq+lb7+Xu6YWyUP8ZE+mFslB9GRfhB5eEmQsRERETUEySCILRuh+qkJkyYgHHjxmHt2rXmbbGxsZg7dy5SU1Nb7f/jjz9i/vz5uHDhAgICArp0TY1GA5VKBbVaDV9f3y7HTkREvYveIOBMUWVjgm1MtM9dqULLd1U3mQQjwnwtEu2oAE/OyyYiInJhnc0TXabiXV9fj4yMDDz11FMW25OSkrB3716rx2zZsgUJCQl45ZVX8Mknn8DLywu33nornn/+eXh4eFg9RqvVQqvVmu9rNBr7PQkiInJZxZo6ZJrnZZfjaJ4aNfWtu4xH+HuYk+wxkX4YGe4LdzeZCBETERGRs3CZxLukpAR6vR6hoaEW20NDQ1FYWGj1mAsXLmD37t1wd3fH5s2bUVJSgiVLlqCsrAzr16+3ekxqaipWrFhh9/iJiMh1aHV6HM/XIDPHWMnOzCnHZXVdq/28lXKMilBhbJQfxkQak+1gH6UIERMREZEzc5nE26Tl0DxBENocrmcwGCCRSPDZZ59BpVIBAFatWoXbb78d77zzjtWq9/Lly5GSkmK+r9FoEBkZacdnQEREzqakSouMS+U4fKkcGZfKcTRfjXqdZQM0iQQYFupjHi4+JtIfg0O8IWOXcSIiIuqAyyTeQUFBkMlkrarbxcXFrargJmFhYejfv7856QaMc8IFQUBeXh6GDBnS6hilUgmlktUKIqLeymAQcO5KFdIvGpPsjEtluFjaejmvQC8Fxkb5Y2xUUwM0b6XLvG0SERGRE3GZTxAKhQLx8fFIS0vDbbfdZt6elpaGOXPmWD1m8uTJ+Oqrr1BVVQVvb28AwJkzZyCVShEREdEjcRMRkbiqtTocya1AxqVypF8qx+GcclTWtV7dYmioN+Kj/REfHYD4aH8MCGQDNCIiIrIPl0m8ASAlJQULFixAQkICEhMTsW7dOuTk5CA5ORmAcZh4fn4+Pv74YwDAnXfeieeffx733nsvVqxYgZKSEjz++OO477772myuRkREri2/otY8bDz9UhlOFVRCb7BsNe7hJsOYSD8kDPDHuGh/jIv0h8qTy3kRERGRY7hU4j1v3jyUlpZi5cqVKCgoQFxcHLZu3Yro6GgAQEFBAXJycsz7e3t7Iy0tDY888ggSEhIQGBiIO+64Ay+88IJYT4GIiOxIpzfgZIGmqZp9qRwFVpqghavcET8gAPFRfoiPDkBsmA/kMqkIERMREVFf5FLreIuB63gTETkPrU6Po3lqHMwuw4HsMmRcLEN1iyW9ZFIJRob7YlyUf+PQcX+E+3GUExEREdlPr13Hm4iI+p7aej0yc8qxP7sMB7NLkZlTAW2LbuO+7nJzgh0fHYDRkSp4Kvj2RkRERM6Dn0yIiMhpVNY1IP1SOQ5ml+FgdhmO5lWgQW85MCvIW4HxMQEYPyAAEwYGYlioD6Rc0ouIiIicGBNvIiISTbVWh4MXy7D3XAn2XyjDictqtOiDhn6+7pgwMAATYgIxPiYAg4K92G2ciIiIXAoTbyIi6jENegOyciuw51wJ9pwrQWZOBXQtMu3oQE+MHxCA8TEBmDgwEBH+Hky0iYiIyKUx8SYiIocxGAT8VliJveeNifaB7DLUtGiGFuHvgcmDgjBpcCAmxASin8pdpGiJiIiIHIOJNxER2VVuWQ12N1a0950vRWl1vcXjAV4KJA4KxDWDgzB5UBCiAj1FipSIiIioZzDxJiKibqlr0ONgdhm2n76C7aeLcaGk2uJxT4UM42MCcM3gIEwaFITh/dgMjYiIiPoWJt5ERNRpuWU12H66GNtPX8He86WobWgaPi6XSjA2yg+TBgXhmiFBGB3hB4VcKmK0REREROJi4k1ERB1q0BtwKLsMP/9WjO2ni3H+imVVO9RXialDQ3D98GBMGhwEX3c3kSIlIiIicj5MvImIyKrKugbsPFOCtJOF+OW3YmjqdObHZFIJ4qP9MXVYMKYODUFsmA87jxMRERG1gYk3ERGZFarrkHaqCGkni7D/fCnq9QbzYwFeCtwwPAQ3DA/B5MFBUHmwqk1ERERkC5sS74CAgE6dVCKR4PDhw4iOju5SUERE1DMEwbjcV9pJY7J9LF9t8fjAIC/MGBGK6SNCMS7KHzI2RSMiIiLqNJsS74qKCqxevRoqlarDfQVBwJIlS6DX6zvcl4iIep4gCDiSp8bWYwX44XgBcstqzY9JJMC4KH9Mjw3FjBGhGBziLWKkRERERL2DzUPN58+fj5CQEJv2feSRR7ocEBER2Z8gCDiap8Z/jxVg67EC5JU3JdtKuRRThgRhxohQ3DA8FME+ShEjJSIiIup9bEq8DQZDxzs1U1lZ2aVgiIjIfgRBwLF8Nf57tAD/bZFseypkuGF4CGZdFYbrhgXDU8GWH0RERESOwk9aRES9TG5ZDb7LzMfmzHxcKGla9qt5sj11WAg8FDIRoyQiIiLqO7qUeOfn52PPnj0oLi5uVQ1funSpXQIjIiLbVdY14IdjhfjmcB4OZJeZt7u7STE9NpTJNhEREZGIOp14b9iwAcnJyVAoFAgMDLRYt1UikTDxJiLqIQaDgN3nSvBVRh62nSiEVmf8IlQiASYNCsRtYyNwU1w/eCs5uImIiIhITBJBEITOHBAZGYnk5GQsX74cUqnUUXE5DY1GA5VKBbVaDV9fX7HDISJCaZUWX2Xk4fMDOcgpqzFvHxzijd+N64+5Y/oj3M9DxAiJiIiIerfO5omdLoPU1NRg/vz5fSLpJiJyFoIg4GB2GT47kIMfjxeiXm+sbvu4y/G7sf1xe3wk4vr7WoxCIiIiIiLn0OnEe/Hixfjqq6/w1FNPOSIeIiJqprZej68P5+HjvRdxtrjKvH10pB/umhCF2aPCOW+biIiIyMl1eqi5Xq/HLbfcgtraWlx11VVwc3OzeHzVqlV2DVBsHGpORGIo1tTh432X8OmBS6ioaQBg7Eo+Z0x/3DUhCnH9VSJHSERERNR3OXyo+UsvvYSffvoJw4YNA4BWzdWIiKjrThVo8K9d2dhyJB8NeuP3olEBnrhv8gD8Pj4CPu5uHZyBiIiIiJxNpxPvVatWYf369Vi0aJEDwiEi6pvSL5bhjZ/PYtfZEvO2hGh/3D9lIGaMCIVMyi82iYiIiFxVpxNvpVKJyZMnOyIWIqI+52B2Gd74+Qz2nCsFAEglwMyrwnD/NTEYG+UvcnREREREZA+dbk3+6KOP4q233nJELDZZs2YNYmJi4O7ujvj4eOzatcum4/bs2QO5XI4xY8Y4NkAiIhscuFCKO9/fjzve24c950ohl0ow/+pIbP/r9XjnznFMuomIiIh6kU5XvA8ePIhffvkF//nPfzBy5MhWzdW+/fZbuwXX0qZNm7Bs2TKsWbMGkydPxnvvvYeZM2fi5MmTiIqKavM4tVqNhQsXYtq0aSgqKnJYfEREHTl5WYPUH06Zh5S7ySS4PT4SS6YOQmSAp8jREREREZEjdLqr+b333tvu4xs2bOhWQO2ZMGECxo0bh7Vr15q3xcbGYu7cuUhNTW3zuPnz52PIkCGQyWT47rvvkJWVZfM12dWciOyhQF2Lf247g28O50EQjAn3HQmRWHL9YPT38xA7PCIiIiLqBId3NXdkYt2e+vp6ZGRktFo/PCkpCXv37m3zuA0bNuD8+fP49NNP8cILLzg6TCIiC1VaHd7dfh7/2n0BdQ0GAMAto8LwxI3DERXICjcRERFRX9DpxFssJSUl0Ov1CA0NtdgeGhqKwsJCq8ecPXsWTz31FHbt2gW53LanqtVqodVqzfc1Gk3XgyaiPksQBGw9VogV359AcaXxb8r4AQF4elYsxkT6iRscEREREfUom5qrjRs3DuXl5Taf9JprrkF+fn6Xg2pPy7XCBUGwun64Xq/HnXfeiRUrVmDo0KE2nz81NRUqlcp8i4yM7HbMRNS35JTW4N4PD+Ghzw+juFKLAYGeeG9BPDb9eSKTbiIiIqI+yKYycFZWFo4cOYKAgACbTpqVlWVRNbaHoKAgyGSyVtXt4uLiVlVwAKisrER6ejoyMzPx8MMPAwAMBgMEQYBcLse2bdtwww03tDpu+fLlSElJMd/XaDRMvonIJg16A9btvIA3fz4Lrc4AhUyKB6cOwoNTB8HdTSZ2eEREREQkEpuHmk+bNg229mGzVoHuLoVCgfj4eKSlpeG2224zb09LS8OcOXNa7e/r64tjx45ZbFuzZg1++eUXfP3114iJibF6HaVSCaVSad/giajXO1dchcc2ZeFYvhoAMGlQIJ6fG4dBwd4iR0ZEREREYrMp8c7Ozu70iSMiIjp9TEdSUlKwYMECJCQkIDExEevWrUNOTg6Sk5MBGKvV+fn5+PjjjyGVShEXF2dxfEhICNzd3VttJyLqKkEQ8Mn+S3hp6ynUNRig8nDDP2aPwG1j+zvkS0giIiIicj02Jd7R0dGOjsMm8+bNQ2lpKVauXImCggLExcVh69at5vgKCgqQk5MjcpRE1FdcqdTi8a+PYPvpKwCAKUOC8Orto9FP5S5yZERERETkTDq9jndfw3W8iciawznlePDTDBRptFDIpXjqpuFYNGkApFJWuYmIiIh6O4ev401E1Nd9fiAH/9hyHA16AYOCvbD27ngMDfUROywiIiIiclJMvImIbCQIAl7bdhrv/HoeADAzrh9e/cNoeCv5p5SIiIiI2sZPi0RENmjQG7D822P4OiMPAJAyYygeuWEwG6gRERERUYeknT1g0aJF2LlzpyNiISJySnUNejzwcTq+zsiDTCrBK78fhaXThjDpJiIiIiKbdDrxrqysRFJSEoYMGYKXXnoJ+fn5joiLiMgp1DXo8adPMrD99BW4u0nx/sJ43HF1pNhhEREREZEL6XTi/c033yA/Px8PP/wwvvrqKwwYMAAzZ87E119/jYaGBkfESEQkinqdAQ9/fhg7z1yBh5sMH983ATcMDxU7LCIiIiJyMZ1OvAEgMDAQjz76KDIzM3Hw4EEMHjwYCxYsQHh4OB577DGcPXvW3nESEfUovUHAY5uy8L9TxVDKpfjgngSMjwkQOywiIiIickFdSrxNCgoKsG3bNmzbtg0ymQw333wzTpw4gREjRuD111+3V4xERD3u5R9O4b/HCqCQSbFuYQImDQ4SOyQiIiIiclGdTrwbGhrwzTff4JZbbkF0dDS++uorPPbYYygoKMBHH32Ebdu24ZNPPsHKlSsdES8RkcN9eSgX7+/KBgC8+odRuG5osMgREREREZEr6/RyYmFhYTAYDPjjH/+IgwcPYsyYMa32ufHGG+Hn52eH8IiIetaZokr8/d/HAQCPTR+KOWP6ixwREREREbm6Tifer7/+Ov7whz/A3d29zX38/f2RnZ3drcCIiHpavc6ARz7PhFZnwLVDg/HIDYPFDomIiIiIeoFOJ94LFixwRBxERKL71+4LOF1UiUAvBVbdMRpSKdfpJiIiIqLu61ZzNSKi3qJQXYc3fzauyPDMrFgEeStFjoiIiIiIegsm3kREAN759RzqGgyIj/bHbWM5r5uIiIiI7IeJNxH1eVcqtfjiUA4A4PEbh0Ei4RBzIiIiIrIfJt5E1Od9nZGHBr2AMZF+mDgwUOxwiIiIiKiXYeJNRH2awSCYq913TogSORoiIiIi6o2YeBNRn5aVV4FLpTXwVspxy6gwscMhIiIiol6IiTcR9Wk7z1wBAFw7NAieik6vsEhERERE1CEm3kTUp5kT7yHBIkdCRERERL0VE28i6rMa9AYcy1cDACYPDhI5GiIiIiLqrZh4E1GflV1SjQa9AG+lHBH+HmKHQ0RERES9FBNvIuqzLlfUAgAiAzy5djcREREROQwTbyLqs9S1DQAAPw83kSMhIiIiot6MiTcR9VmaOh0AwMed3cyJiIiIyHGYeBNRn8dR5kRERETkSC6XeK9ZswYxMTFwd3dHfHw8du3a1ea+3377LWbMmIHg4GD4+voiMTERP/30Uw9GS0TOzMNNBgCobTCIHAkRERER9WYulXhv2rQJy5YtwzPPPIPMzExMmTIFM2fORE5OjtX9d+7ciRkzZmDr1q3IyMjA9ddfj9mzZyMzM7OHIyciZ+SlMCbeVXUNIkdCRERERL2ZRBAEQewgbDVhwgSMGzcOa9euNW+LjY3F3LlzkZqaatM5Ro4ciXnz5uHZZ5+1aX+NRgOVSgW1Wg1fX98uxU1EzulYnhqz396NIG8F0v82Q+xwiIiIiMhFdDZPdJmKd319PTIyMpCUlGSxPSkpCXv37rXpHAaDAZWVlQgICGhzH61WC41GY3Ejot5pQJAnAKCkqt7c4ZyIiIiIyN5cJvEuKSmBXq9HaGioxfbQ0FAUFhbadI5//vOfqK6uxh133NHmPqmpqVCpVOZbZGRkt+ImIufl4+6GMJU7AGP1m4iIiIjIEVwm8TaRtGg/LAhCq23WbNy4Ec899xw2bdqEkJCQNvdbvnw51Gq1+Zabm9vtmInIeSUODAQA7DlfInIkRERERNRbuUziHRQUBJlM1qq6XVxc3KoK3tKmTZuwePFifPnll5g+fXq7+yqVSvj6+lrciKj3mjw4CACw6+wVkSMhIiIiot7KZRJvhUKB+Ph4pKWlWWxPS0vDpEmT2jxu48aNWLRoET7//HPMmjXL0WESkYu5blgwZFIJjudrkF1SLXY4RERERNQLuUziDQApKSn417/+hfXr1+PUqVN47LHHkJOTg+TkZADGYeILFy40779x40YsXLgQ//znPzFx4kQUFhaisLAQajXnchKRUZC30lz1/i4zX+RoiIiIiKg3cqnEe968eVi9ejVWrlyJMWPGYOfOndi6dSuio6MBAAUFBRZrer/33nvQ6XR46KGHEBYWZr49+uijYj0FInJCt40NBwB8nZEHvcFlVlgkIiIiIhfhUut4i4HreBP1fnUNekxM/RkVNQ1YtyAeSSP7iR0SERERETmxXruONxGRo7i7yTDvauPSgR/uvShuMERERETU6zDxJiICsGBiNORSCfaeL0XGpXKxwyEiIiKiXoSJNxERgAh/T/x+XAQA4I2fz4ocDRERERH1Jky8iYgaPXT9YMilEuw8cwX7zpeKHQ4RERER9RJMvImIGkUFeuKP46MAACu+PwGd3iByRERERETUGzDxJiJqJmXGUPh5uuG3wkp8uv+S2OEQERERUS/AxJuIqBl/LwX+mjQMAPDKT6eRW1YjckRERERE5OqYeBMRtXDn+CiMHxCAmno9nvzmKAwGQeyQiIiIiMiFMfEmImpBKpXgldtHwd1Nir3nS/HZwRyxQyIiIiIiF8bEm4jIigFBXnjypuEAgBf/exJniipFjoiIiIiIXBUTbyKiNtyTOABThgShrsGAhz47jJp6ndghEREREZELYuJNRNQGqVSC1+eNQYiPEmeLq/D3706IHRIRERERuSAm3kRE7QjyVuLNP46FVAJ8cziPS4wRERERUacx8SYi6sDEgYH4643GJcb+seUE9p4rETkiIiIiInIlTLyJiGzw4HWDMHdMOPQGAQ9+dhjZJdVih0RERERELoKJNxGRDSQSCV7+/SiMjfKDurYB9314CMWVdWKHRUREREQugIk3EZGN3N1keG9BPPr7eSC7pBp3/+sAyqrrxQ6LiIiIiJwcE28iok4I8XHH5w9MQKivEmeKqnD3vw5AXdMgdlhERERE5MSYeBMRdVJ0oBc+u38igrwVOFmgwZ3/2o+SKq3YYRERERGRk2LiTUTUBYNDvPHp/RMQ6KXAicsa/OHdfcgrrxE7LCIiIiJyQky8iYi6aHg/X3yVnGie83372n04W1QpdlhERERE5GQkgiAIYgfhzDQaDVQqFdRqNXx9fcUOh4icUIG6Fgs+OIhzxVXw93TDB4uuxrgof4ddTxAEnL9ShbNFVSiu1KJKq4NWZ4C7mxSebjL4erghwt8TkQEeCPVxh1QqcVgsRERERH1RZ/NEJt4dYOJNRLYoq67HvRsO4kieGu5uUrwxfyxuHNnPrteo0urw/s4L+DojD/kVtTYdo5BLMSEmAI/cMATjYwLsGg8RERFRX8XE286YeBORraq1Ojz8+WH8evoKJBLgH7eMwKLJMXY59+6zJXjsyyxcqTQ2cfNwk2FoqDfC/TzgrZRD6SZFXYMBtfV6VNTWI7esFnnlNTA0/oXv7+eBPU/dYJdYiIiIiPq6zuaJ8h6IiYioT/BSyvH+wgQ8u+UEPj+Qg+e+P4m88lo8fXNst4Z7H8mtwKINB6EzCIgJ8sJjM4YiaUQo3N1kbR5z4UoV/vLVEWTmVAAAxkT5dfn6RERERNQ9Ltdcbc2aNYiJiYG7uzvi4+Oxa9eudvffsWMH4uPj4e7ujoEDB+Ldd9/toUiJqC+Sy6R4cW4cnrxpOADgX7uz8dDnh1HXoO/yOTfsyYbOIOCG4SH44dEpuHV0eLtJ9/krVZj7zh5k5lTAUyHD32bF4o15Y7p8fSIiIiLqHpdKvDdt2oRly5bhmWeeQWZmJqZMmYKZM2ciJyfH6v7Z2dm4+eabMWXKFGRmZuLpp5/G0qVL8c033/Rw5ETUl0gkEjw4dRDemD8GCpkUPxwvxB/f34/iyroune9YvhoAcM+kAe0m3ICx8doTXx+Fpk6H0ZF+SEu5DvdPGQi5zKX+3BMRERH1Ki71SWzVqlVYvHgx7r//fsTGxmL16tWIjIzE2rVrre7/7rvvIioqCqtXr0ZsbCzuv/9+3HfffXjttdd6OHIi6ovmjOmPTxaPh8rDDZk5FZj79h6cuKzu8vkUNiTPmbkVyLhUDg83GdbcNQ79/Ty6fD0iIiIisg+XSbzr6+uRkZGBpKQki+1JSUnYu3ev1WP27dvXav8bb7wR6enpaGhocFisREQmEwYG4ruHJmNgsBcuq+tw+9p9+OlEYafO4daYcOsMhg73PV1Y2XjdACbdRERERE7CZRLvkpIS6PV6hIaGWmwPDQ1FYaH1D7GFhYVW99fpdCgpKbF6jFarhUajsbgREXVHTJAXNi+ZjClDglDboEfypxlYs/0cbF1Uwsfd2AezrLre5n3zy2ttPj8REREROZbLJN4mEollZ2BBEFpt62h/a9tNUlNToVKpzLfIyMhuRkxEBKg83LBh0dW4JzEaggC88uNp/OXLIzY1XRsS6gOgqZrdnimDg6GQS3G2uAp7z5d2O24iIiIi6j6XSbyDgoIgk8laVbeLi4tbVbVN+vXrZ3V/uVyOwMBAq8csX74carXafMvNzbXPEyCiPk8uk2LFnDg8P2ckZFIJvs3Mx53v7zevzd2W0REqAMDWYwXQG9qvYqs83TD/auMXhn/77jh0+o6HpxMRERGRY7lM4q1QKBAfH4+0tDSL7WlpaZg0aZLVYxITE1vtv23bNiQkJMDNzc3qMUqlEr6+vhY3IiJ7WpA4AB/dOx6+7nIczqnArW/vxrG8tpuuzR4dDj9PN1wsrUHKl1mo0uraPf/jNw5D4sBAvHTbVexmTkREROQEXOoTWUpKCv71r39h/fr1OHXqFB577DHk5OQgOTkZgLFavXDhQvP+ycnJuHTpElJSUnDq1CmsX78eH3zwAf7617+K9RSIiAAA1wwJMjddK1DX4fZ39+LfWflW99U2GNCgM1au/511GT8cK2j33D7ubtj4p4lIHGR9ZA8RERER9Sy52AF0xrx581BaWoqVK1eioKAAcXFx2Lp1K6KjowEABQUFFmt6x8TEYOvWrXjsscfwzjvvIDw8HG+++SZ+//vfi/UUiIjMBgZ747uHJuPRjZn49fQVPPpFFk4VVOLxG4dBJjX2ocgtq8Ef3t2H6nrjXPCpw4Jx81VhYoZNRERERJ0kEdj2tl0ajQYqlQpqtZrDzonIIfQGAa9tO421288DAK4fFow3/jgWdQ16zHtvP7JLqhET5IWXbruKVWwiIiIiJ9DZPJGJdweYeBNRT/l3Vj6e+PootDoDgrwVqKzTQaszoL+fB75dMgmhvu5ih0hERERE6Hye6FJzvImIerM5Y/rj6+RJ8HWXo6SqHtrGed2fPzCBSTcRERGRC2PiTUTkRAK8FfBQyCy2/Xi8EBycREREROS6mHgTETkBnd6AL9NzcfMbu1Ck0cLHXY4RYcZhS6k//IaUL4+grkEvcpRERERE1BUu1dWciKi3EAQBeeW1SL9UhkMXy7Hj9BXkV9QCAEZFqLDmrnHo7+eBT/ZfworvT2JzZj7OX6nCugUJ6KfisHMiIiIiV8Lmah1gczUi6qxCdR32XyjFmaJKFGrqUFmng6a2AVVanfFWp0OlVof6xjncJgFeCvz52oG475oYuMmaBiTtPV+Chz47jPKaBgT7KPHegniMi/Lv6adFRERERI3Y1dzOmHgTka0EQUDqD7/h/V0XYMtfVrlUgrj+Klw9wB/x0QG4dmgQPBXWByLlltXggY/T8VthJRRyKV7+3VX43bgIOz8DIiIiIrIFE287Y+JNRLZKO1mEBz5OBwCMjvTDyHBfRPh7QOXhBh93N/i4y+GjlMPbXQ4fdzcEeing7ibr4KxNqrU6LNuUhbSTRQCAP187EE/cNBwyqcQhz4eIiIiIrOtsnsg53kREdrLnXIn55/lXR+K2sf07lVh3xEspx3t3x2NV2hm8/es5vLfzAs4WV+GN+WPg4+5mt+sQERERkX2xqzkRkZ3cHh8BP09jArz822OY9PIvePWn31CgrrXbNaRSCf564zC89cexUMql+OW3Yty2Zi9yy2rsdg0iIiIisi8ONe8Ah5oTUWdUaXX44mAONuy5aO5SLpNKMDOuH5ZOG4KhoT52u9axPDUe+DgdhZo6BHkr8eG9VyOuv8pu5yciIiIi6zjH286YeBNRV+j0BvzvVBE27LmIA9llAACJBLhtbH88fXMsgryVdrlOkaYO96w/iN8KK+GlkGHt3fG4dmiwXc5NRERERNYx8bYzJt5E1F0nL2vw5s9n8eOJQgCAv6cbnrt1JG4dHQ6JpPuN0TR1DUj+JAN7z5dCLpXgldtHseM5ERERkQMx8bYzJt5EZC+ZOeVY/u0x/FZYCQC4ZVQYXr19NDwU3W/AVq8z4K9fHcGWI5cBAC/MjcPdE6O7fV4iIiIiaq2zeSKbqxER9ZCxUf7Y8vA1+MuMoZBLJfjP0QL84b29UNc2dPvcCrkUq+eNweJrYgAAf/vuOL5Kz+32eYmIiIio+5h4ExH1IIVcikemDcHnD0xEoJcCx/M1ePjzw9DpDd0+t1Qqwd9mxeLeyQMAAE98cxS//lbc7fMSERERUfcw8SYiEsH4mAB8dN94eLjJsOtsCZ7/z0m7nFcikeDZW0ZgXkIkBAFYtikLeeVcaoyIiIhITEy8iYhEEtdfhdfnjQEAfLTvEj7ck22X80okEqycOxKjI/2grm3AC/85ZZfzEhEREVHXMPEmIhLRTXH98ORNwwEAK/9z0twcrbuUchlevX0UpBLgxxOFuFhSbZfzEhEREVHnMfEmIhJZ8nUD8cfxUTAIwLIvMu3WFG1oqA/GxwQAAPZdKLXLOYmIiIio85h4ExGJTCKR4MW5cebk+/Gvj+KlrafQYIeGa0HeSgBARU33O6cTERERUdcw8SYicgJSqQQv3RaHP187EACwbucF3PzGLvzvZBEEQejSOX86UYhtJ4sAAMP7+dgtViIiIiLqHInQ1U90fURnF0YnIuquH48X4qlvj5qr1CPDfTF/fBSuHxaM/n4ekEgkbR6r1emx60wJPj1wCdtPXwEATI8NxboF8ZBK2z6OiIiIiGzX2TyRiXcHmHgTkRjUtQ14d8d5rN+dDa2uach5iI8SI8N90d/fAwGeCshlUtTrDCip0uJCSTWO5alR26AHAMilEtx3TQwev3EY3GQc4ERERERkL0y87YyJNxGJqay6Ht8ezsP3Ry7jxGUNdIaO/2SH+Cgxa1QY7kkcgAFBXj0QJREREVHf0msT7/LycixduhRbtmwBANx6661466234OfnZ3X/hoYG/O1vf8PWrVtx4cIFqFQqTJ8+HS+//DLCw8Ntvi4TbyJyFrX1ehzLV+PClSrkltegsk6HBr0AN5kEQd5KhKncMSbSD4OCvTmsnIiIiMiBem3iPXPmTOTl5WHdunUAgD/96U8YMGAAvv/+e6v7q9Vq3H777XjggQcwevRolJeXY9myZdDpdEhPT7f5uky8iYiIiIiIqLlemXifOnUKI0aMwP79+zFhwgQAwP79+5GYmIjffvsNw4YNs+k8hw4dwvjx43Hp0iVERUXZdAwTbyIiIiIiImqus3miS3Tb2bdvH1QqlTnpBoCJEydCpVJh7969Np9HrVZDIpG0OTydiIiIiIiIyN7kYgdgi8LCQoSEhLTaHhISgsLCQpvOUVdXh6eeegp33nlnu99IaLVaaLVa832NRtP5gImIiIiIiIgaiVrxfu655yCRSNq9meZjW1u3VhCEdtezNWloaMD8+fNhMBiwZs2advdNTU2FSqUy3yIjI7v25IiIiIiIiIggcsX74Ycfxvz589vdZ8CAATh69CiKiopaPXblyhWEhoa2e3xDQwPuuOMOZGdn45dffulw/P3y5cuRkpJivq/RaJh8ExERERERUZeJmngHBQUhKCiow/0SExOhVqtx8OBBjB8/HgBw4MABqNVqTJo0qc3jTEn32bNn8euvvyIwMLDDaymVSiiVStufBBEREREREVE7XKK5WmxsLG666SY88MAD2L9/P/bv348HHngAt9xyi0VH8+HDh2Pz5s0AAJ1Oh9tvvx3p6en47LPPoNfrUVhYiMLCQtTX14v1VIiIiIiIiKiPcYnmagDw2WefYenSpUhKSgIA3HrrrXj77bct9jl9+jTUajUAIC8vD1u2bAEAjBkzxmK/X3/9FVOnTrXpuqbV1thkjYiIiIiIiICm/NDW1bldYh1vMeXl5XGONxEREREREbWSm5uLiIiIDvdj4t0Bg8GAy5cvw8fHx6YO6uQ8TI3xcnNzbVrUnsgV8PeaeiP+XlNvxN9r6m34O21JEARUVlYiPDwcUmnHM7hdZqi5WKRSqU3fYJDz8vX15R8H6nX4e029EX+vqTfi7zX1NvydbqJSqWze1yWaqxERERERERG5KibeRERERERERA7ExJt6LaVSiX/84x9cl516Ff5eU2/E32vqjfh7Tb0Nf6e7h83ViIiIiIiIiByIFW8iIiIiIiIiB2LiTURERERERORATLyJiIiIiIiIHIiJNxEREREREZEDMfGmPuHFF1/EpEmT4OnpCT8/P7HDIeqSNWvWICYmBu7u7oiPj8euXbvEDomoW3bu3InZs2cjPDwcEokE3333ndghEXVLamoqrr76avj4+CAkJARz587F6dOnxQ6LqFvWrl2LUaNGwdfXF76+vkhMTMQPP/wgdlguh4k39Qn19fX4wx/+gAcffFDsUIi6ZNOmTVi2bBmeeeYZZGZmYsqUKZg5cyZycnLEDo2oy6qrqzF69Gi8/fbbYodCZBc7duzAQw89hP379yMtLQ06nQ5JSUmorq4WOzSiLouIiMDLL7+M9PR0pKen44YbbsCcOXNw4sQJsUNzKVxOjPqUDz/8EMuWLUNFRYXYoRB1yoQJEzBu3DisXbvWvC02NhZz585FamqqiJER2YdEIsHmzZsxd+5csUMhspsrV64gJCQEO3bswLXXXit2OER2ExAQgFdffRWLFy8WOxSXwYo3EZGTq6+vR0ZGBpKSkiy2JyUlYe/evSJFRUREHVGr1QCMSQpRb6DX6/HFF1+guroaiYmJYofjUuRiB0BERO0rKSmBXq9HaGioxfbQ0FAUFhaKFBUREbVHEASkpKTgmmuuQVxcnNjhEHXLsWPHkJiYiLq6Onh7e2Pz5s0YMWKE2GG5FFa8yWU999xzkEgk7d7S09PFDpPIbiQSicV9QRBabSMiIufw8MMP4+jRo9i4caPYoRB127Bhw5CVlYX9+/fjwQcfxD333IOTJ0+KHZZLYcWbXNbDDz+M+fPnt7vPgAEDeiYYIgcKCgqCTCZrVd0uLi5uVQUnIiLxPfLII9iyZQt27tyJiIgIscMh6jaFQoHBgwcDABISEnDo0CG88cYbeO+990SOzHUw8SaXFRQUhKCgILHDIHI4hUKB+Ph4pKWl4bbbbjNvT0tLw5w5c0SMjIiImhMEAY888gg2b96M7du3IyYmRuyQiBxCEARotVqxw3ApTLypT8jJyUFZWRlycnKg1+uRlZUFABg8eDC8vb3FDY7IBikpKViwYAESEhKQmJiIdevWIScnB8nJyWKHRtRlVVVVOHfunPl+dnY2srKyEBAQgKioKBEjI+qahx56CJ9//jn+/e9/w8fHxzxSSaVSwcPDQ+ToiLrm6aefxsyZMxEZGYnKykp88cUX2L59O3788UexQ3MpXE6M+oRFixbho48+arX9119/xdSpU3s+IKIuWLNmDV555RUUFBQgLi4Or7/+OpenIZe2fft2XH/99a2233PPPfjwww97PiCibmqr78aGDRuwaNGing2GyE4WL16Mn3/+GQUFBVCpVBg1ahSefPJJzJgxQ+zQXAoTbyIiIiIiIiIHYldzIiIiIiIiIgdi4k1ERERERETkQEy8iYiIiIiIiByIiTcRERERERGRAzHxJiIiIiIiInIgJt5EREREREREDsTEm4iIiIiIiMiBmHgTERERERERORATbyIiImrl4sWLkEgkkEgkGDNmTLfPZzqXn59ft89FRETkaph4ExERUZv+97//4eeff+72eQoKCrB69eruB0REROSCmHgTERFRmwIDAxEYGNjt8/Tr1w8qlcoOEREREbkeJt5ERES93JUrV9CvXz+89NJL5m0HDhyAQqHAtm3bOnWuRYsWYe7cuXjppZcQGhoKPz8/rFixAjqdDo8//jgCAgIQERGB9evX2/tpEBERuSy52AEQERGRYwUHB2P9+vWYO3cukpKSMHz4cNx9991YsmQJkpKSOn2+X375BREREdi5cyf27NmDxYsXY9++fbj22mtx4MABbNq0CcnJyZgxYwYiIyMd8IyIiIhcCyveREREfcDNN9+MBx54AHfddReSk5Ph7u6Ol19+uUvnCggIwJtvvolhw4bhvvvuw7Bhw1BTU4Onn34aQ4YMwfLly6FQKLBnzx47PwsiIiLXxMSbiIioj3jttdeg0+nw5Zdf4rPPPoO7u3uXzjNy5EhIpU0fIUJDQ3HVVVeZ78tkMgQGBqK4uLjbMRMREfUGTLyJiIj6iAsXLuDy5cswGAy4dOlSl8/j5uZmcV8ikVjdZjAYunwNIiKi3oRzvImIiPqA+vp63HXXXZg3bx6GDx+OxYsX49ixYwgNDRU7NCIiol6PFW8iIqI+4JlnnoFarcabb76JJ554ArGxsVi8eLHYYREREfUJTLyJiIh6ue3bt2P16tX45JNP4OvrC6lUik8++QS7d+/G2rVrxQ6PiIio1+NQcyIiol5u6tSpaGhosNgWFRWFioqKTp/rww8/bLVt+/btrbZdvHix0+cmIiLqrZh4ExERUZsmTZqEMWPGYO/evd06j7e3N3Q6XZc7qRMREbkyJt5ERETUSkREBM6ePQsAUCqV3T5fVlYWAONSY0RERH2NRBAEQewgiIiIiIiIiHorNlcjIiIiIiIiciAm3kREREREREQOxMSbiIiIiIiIyIGYeBMRERERERE5EBNvIiIiIiIiIgdi4k1ERERERETkQEy8iYiIiIiIiByIiTcRERERERGRAzHxJiIiIiIiInIgJt5EREREREREDsTEm4iIiIiIiMiBmHgTERERERERORATbyIiIiIiIiIHkosdgLMzGAy4fPkyfHx8IJFIxA6HyEwQBFRWViI8PBxSKb9D6wy+rslZ8XXdPXxtk7Pia7vr+LomZ9XZ1zUT7w5cvnwZkZGRYodB1Kbc3FxERESIHYZL4euanB1f113D1zY5O762O4+va3J2tr6umXh3wMfHB4DxH9TX11fkaIiaaDQaREZGmn9HyXZ8XZOz4uu6e/jaJmfF13bX8XVNzqqzr2sm3h0wDWnx9fXli52cEodddR5f1+Ts+LruGr62ydnxtd15fF2Ts7P1dc1JJkREREREREQOxMSbiIiIiIiIyIGYeBMRERERERE5kEsl3jt37sTs2bMRHh4OiUSC7777rsNjduzYgfj4eLi7u2PgwIF49913HR8oERERERERUSOXSryrq6sxevRovP322zbtn52djZtvvhlTpkxBZmYmnn76aSxduhTffPONgyMlIiIiIiIiMnKpruYzZ87EzJkzbd7/3XffRVRUFFavXg0AiI2NRXp6Ol577TX8/ve/73Y8eoMAqYQdKomIiIiIiKhtLlXx7qx9+/YhKSnJYtuNN96I9PR0NDQ0WD1Gq9VCo9FY3Nqy7UQhRq3Yhjvf34+950rsGjsROaf0i2WY/dZufH4gR+xQiKgTNh7Mwe/W7EFZdb3YoRCRkzuer8Ytb+3CzjNXAACnCjTIr6gVOSpydb068S4sLERoaKjFttDQUOh0OpSUWE+UU1NToVKpzLfIyMg2z3+qQIPKOh32ni/Fnf86gE/3X7Jr/ETkfP6x5QSO5avxt++OobZeL3Y4RGSj5d8ew+GcCryedkbsUIjIySV/moHj+RosXH8QxZo6zHxjFya//IvYYZGL69WJN9B6GLggCFa3myxfvhxqtdp8y83NbfPcD98wBP9deg3mJRiT8+e2nMCpgrYr5ETk2jR1DThx2fgaNwjAictqkSMios6qrLM+4o2IyCSvvKm6fbLZZ3tTBZyoK3p14t2vXz8UFhZabCsuLoZcLkdgYKDVY5RKJXx9fS1ubVHIpRgZrsLLv78KSSNCoTMIePKbozAYBLs+DyJyDmeLqizun+QXbUQuR8f3aCKHSE1NhUQiwbJly8zbvv32W9x4440ICgqCRCJBVlaWaPF11aINh8w/F2rq2tzvbFElrlRqeyIkclG9OvFOTExEWlqaxbZt27YhISEBbm5udruORCLBC3Pj4K2U42ieGj8cL+z4ICJyOeeKKy3uN/9GnIhcg07PxJvI3g4dOoR169Zh1KhRFturq6sxefJkvPzyyyJFZl81Wp3V7bllNZjx+k5MeOl/PRwRuRKXSryrqqqQlZVl/rYsOzsbWVlZyMkxNjlavnw5Fi5caN4/OTkZly5dQkpKCk6dOoX169fjgw8+wF//+le7xxbi647F18QAAF7/3xlWvYl6oUulNRb388pr2tiTiJwVK95E9lVVVYW77roL77//Pvz9/S0eW7BgAZ599llMnz5dpOi6RuVhvUBXWWc98T6cUw7AOA2NOQC1xaUS7/T0dIwdOxZjx44FAKSkpGDs2LF49tlnAQAFBQXmJBwAYmJisHXrVmzfvh1jxozB888/jzfffNMuS4lZs3hKDHzc5ThXXIUdZzkHhKi3KdIYh5CNjfIDwIo3kSsyCPxQTGRPDz30EGbNmmW35LozKww5Qn5FLdS11ntBZJdUW90ulzalVG0dS+RS63hPnTrV3BzNmg8//LDVtuuuuw6HDx92YFRNfN3d8If4SKzfk41P9l3C9cNCeuS6RNQziiuNc7vGRPohM6cCBeq253oRkXNixZvIfr744gscPnwYhw4d6nhnG6WmpmLFihV2O1+nr7/1VJuPfZuZj1XzxrTaXl3fVAm/rK6Fv5fCEaGRi3OpircruHtiFADg19PFuMz1/oh6FVPTlBFhxqaL5dX1HFJG5GL0BoPYIRD1Crm5uXj00Ufx6aefwt3d3W7n7cwKQ45wNK/9FUv0Vt73K2rqzT8fz+eKJ2QdE287GxjsjfEDAiAIwNZjBWKHQ0R2VNTYzTS2MfHWGQRouDQRkUtpYHM1IrvIyMhAcXEx4uPjIZfLIZfLsWPHDrz55puQy+XQ6/VdOm9nVhhyhOrGBmpzxoRbfbymvvU877Lqps8ChWp2NifrmHg7wM1X9QPAxJvIVmvWrEFMTAzc3d0RHx+PXbt22XTcnj17IJfLMWbMGMcGCECr06O8xvjG2t/PAz7uxpk6pdX17R1GRE7GWrWKiDpv2rRpOHbsmLnxcVZWFhISEnDXXXchKysLMplM7BC7xNRA7a9Jw/Dq7aNaPV5b3/oLhdKqpmS7svEL+cq6Bvxr1wUUqDkCloyYeDvAzKvCIJEAh3Mq+GIj6sCmTZuwbNkyPPPMM8jMzMSUKVMwc+ZMi0aJ1qjVaixcuBDTpk3rkTjLGhNsN5kEfp5uCPJWAgBKq5h4E7kSJt5E9uHj44O4uDiLm5eXFwIDAxEXFwcAKCsrQ1ZWFk6ePAkAOH36NLKyslBY6JxL79Y16FGvN05HUXm64Q8Jka32qbaWeDf7Et70+Etbf8ML/z2FRevtN/+dXBsTbwcI9XXH6Ag/AMCec6XiBkPk5FatWoXFixfj/vvvR2xsLFavXo3IyEisXbu23eP+/Oc/484770RiYmKPxFnRWO1WebhBIpEgoLFxSlk1h5QRuRIm3kQ9Z8uWLRg7dixmzZoFAJg/fz7Gjh2Ld999V+TIrDNVuyUSwFthvQe1taHm569UmX+urdehSqvDxoPGAsLpokqcuKzGgQuluO7VX7GLKx/1WUy8HWTSoEAAwN7zJSJHQuS86uvrkZGRgaSkJIvtSUlJ2Lt3b5vHbdiwAefPn8c//vEPR4doZloexLdxbc/AxsS7hBVvIpfCruZEjrN9+3asXr3afH/RokUQBKHV7bnnnhMtxvaY+rZ4K+WQSiUAgM/un4AxkX7mfXJKayxWWfoyPReXSmvM96vr9Vi/O9vivLPe3I156/bjUmkNnvrmmAOfATkzJt4OktiYeO8/X9ruEmhEfVlJSQn0ej1CQ0MttoeGhrY5DO3s2bN46qmn8Nlnn0Eut21FRHusCWqqePuZEm9vU8WbiTeRK2FXcyJqi6ni7evuZt42eXAQvntosnlFkwc/O4y/fXfc/PgTXx+1OEdtvR5aXduN5fK56lGfxcTbQRKiA+Amk+Cyug555XyBEbVHIpFY3BcEodU2ANDr9bjzzjuxYsUKDB061Obzp6amQqVSmW+Rka3nbHVEU9s01BxoqnxXsqs5kUthxZuI2mJ6Tzc1UG3O16Np22cHcnAkt8LqOaq0Orzz63mHxEeujYm3g3goZBjez/jNWEfrARL1VUFBQZDJZK2q28XFxa2q4ABQWVmJ9PR0PPzww+alS1auXIkjR45ALpfjl19+sXode6wJqm6ZeDd+G66pbT3Xi4icF+d4E1FbTBVva4l3sI/lWuVz3tmDugY9+vt5WGzPaiMhN5FJWxcWqG9g4u1AV0WoAABH8yvEDYTISSkUCsTHxyMtLc1ie1paGiZNmtRqf19f31ZLlyQnJ2PYsGHIysrChAkTrF7HHmuCtkq8G//LdbyJXIuO63gTURvM/VyaDTU3UXm0TsbVtQ1QyI3p1BM3DWv1+P9Srm21TWZlRB/1DbZNkKQuGR2hwucHgGOseBO1KSUlBQsWLEBCQgISExOxbt065OTkIDk5GYCxWp2fn4+PP/4YUqnUvESJSUhICNzd3Vttt7eKWuNc7qaKt/HPJxNvItfCijcRtWX5t8bGZ5fKalo9dt/kGHy633KpU01tg3kN7+gAL4vH+vm6Y3CIT6vzmBJ16nv4f96BrurvB8CYeBv4Rk9k1bx587B69WqsXLkSY8aMwc6dO7F161ZER0cDAAoKCjpc07snqBuHlKs8jU3VzBVvDjUnspv8/HzcfffdCAwMhKenJ8aMGYOMjAy7XoNzvImoI8WaulbbIgM8W20rqaqHpnF4emSA5ZDzfirj0PQnbxoOhawp5XJ3k9kzVHIhrHg70NBQb7i7SVGp1eFiaTUGBnuLHRKRU1qyZAmWLFli9bEPP/yw3WOfe+65HlmWpM053qx4E9lFeXk5Jk+ejOuvvx4//PADQkJCcP78efj5+dn1OlxphIg68tF941ttc5O1rlf+8f395p/DVJaJt0djgv3g1EF4cOogHMmtwJx39qBayy/s+yom3g4kl0kxNNQHR/PUOF1YycSbyIWpayyHmpvmepm6nRNR9/zf//0fIiMjsWHDBvO2AQMG2P06TLuJyJrmq5QM69d6iHhHvJWWaVVeheVwdVPFvLZBD71BYJO1PohDzR1sWKjxhftbYaXIkRBRd7Rd8daxgkZkB1u2bEFCQgL+8Ic/ICQkBGPHjsX777/f7jFarRYajcbi1hG+XonImqLG4eU+7nJ4KqzXJp+5ORbXDQ3GhJiAVo+5u1mmVVcqtRb3vZRNQ8yrWPXuk5h4O5jpG7PTTLyJXJop8fbztOxqrjcIqKnXixYXUW9x4cIFrF27FkOGDMFPP/2E5ORkLF26FB9//HGbx6SmpkKlUplvkZGRPRgxEfUmhWpjotzP173NfR64diA+um+8+Ut4kz9fNxASiQSxYU2rptyTOMBiH6VcBjeZscrN4eZ9E4eaO5hpLe/TRUy8iVyVwSC0qngr5VIoZFLU6w3Q1DXAS8k/p0TdYTAYkJCQgJdeegkAMHbsWJw4cQJr167FwoULrR6zfPlypKSkmO9rNJoOk2/Wu4nIGlPFO7SdxNvksrrW4v7UoSEAgG8eTESxRosTlzWYFhvS6jhvpRzlNQ1MvPsoVrwdzFTxvlhajVpWxYhcUlW9DqZGyKbEWyKRwNc8z5tvoETdFRYWhhEjRlhsi42NbXdVA6VSCV9fX4tbRzjSnIisMQ3/blnNtkanb/pDopBJMSTU2MfJUyHHgCAvzBoVZrV7uelL+kom3n0SE28HC/ZRItBLAUEAzhaz6k3kitQ1xmq3Qi61eCP1aZznrWaDNaJumzx5Mk6fPm2x7cyZM+alBe2Fc7yJyJrqemMy7KnoeLmvG0f2AwAEeSvwy1+vQ5C30qZrmM5dXl1vsf3/fvwN17+23eoyZtR7MPHuAUPZYI3IpVU2rtFpaqhmYupgyiFjRN332GOPYf/+/XjppZdw7tw5fP7551i3bh0eeughu16HaTcRWVOjNY5MtWXq2INTB2HVHaPxw6PXIsK/9frebTlTVAUAeOrbYxbb124/j+ySarz+vzOdiJhcDRPvHmAabn6GiTeRSzINP/Nxt3wzNnUoZXdSou67+uqrsXnzZmzcuBFxcXF4/vnnsXr1atx1111ih0ZEfYDpvdyWire7mwy/GxeBYB/bKt0m/o0NWlt2PDdhs9bejYl3DzDN+zh/pUrkSIioK0wV7eZLgQCseBPZ2y233IJjx46hrq4Op06dwgMPPGD/i7DkTURW1NSb3usd1yz1H7NHmn9+f+cFAJbTX/6ddRnv7jjvsOuTuJh494BBwabEu1rkSIioK0xNULyVLSvexvuseBO5DubdRGRNdWO12ZaKd1c1nwv+4tZTEATBfF2Tl3/4zdxhnXoXJt49YHCIMfHOLa9BXQOHkBC5muoOEu9qLV/XRK6CzdWIyJqqOuvv9fbUsmN6lVYHjZUGrRNe+hl6A/9W9TZMvHtAoJcCKg83CAKQXcKqN5GraevN2DzUvJ4VbyIiIldlMAjIKasB0LRiiSO0TLxLq+qhqbO+Mkrssz+26n5Ors3lEu81a9YgJiYG7u7uiI+Px65du9rd/7PPPsPo0aPh6emJsLAw3HvvvSgtLe2haI0kEgkGBXsBAM4Vc543kaup0lqf9+Wl4FBzIlfDGhIRtfTJ/kvm4pive89VvEuqtNDUWv8MUa8z4IX/nnJYLNTzXCrx3rRpE5YtW4ZnnnkGmZmZmDJlCmbOnImcnByr++/evRsLFy7E4sWLceLECXz11Vc4dOgQ7r///h6OvGm4ORusEbke81DzNrqas7kakevgSHMiaq5QXYd/bDlhvt/yvd6eWq6OUlJVb3Wouck3h/McFgv1PJdKvFetWoXFixfj/vvvR2xsLFavXo3IyEisXbvW6v779+/HgAEDsHTpUsTExOCaa67Bn//8Z6Snp/dw5E0N1ljxJnI9poq2t8L6UHPTUHQicn4Ca95E1MwrP/1mcd+RQ82lUgneX5hgvl9arW1zqDn1Pi6TeNfX1yMjIwNJSUkW25OSkrB3716rx0yaNAl5eXnYunUrBEFAUVERvv76a8yaNasnQrbQVPHmHG8iV1PVZsWbQ82JXA0r3kTUXE2LBqkhnVybu7NmjAjFH8dHAgBKKltXvFNmDMUTNw0z39fq2MC1t3CZxLukpAR6vR6hoaEW20NDQ1FYWGj1mEmTJuGzzz7DvHnzoFAo0K9fP/j5+eGtt95q8zparRYajcbiZg+miveFK1UwsEshkUtpa443m6sRuR6+AxM5RmpqKiQSCZYtW2beJggCnnvuOYSHh8PDwwNTp07FiRMn2j5JD9IbBOgNAhr0BvO2b5dMcug63iamZcWMFW/LzxANegOSrx0EicR4X93OUHRyLS6TeJtITL+FjQRBaLXN5OTJk1i6dCmeffZZZGRk4Mcff0R2djaSk5PbPH9qaipUKpX5FhkZaZe4I/w9oJBJodUZkF9Ra5dzElHPMM3h9uFyYkSuj5k3kd0dOnQI69atw6hRoyy2v/LKK1i1ahXefvttHDp0CP369cOMGTNQWVkpUqRG5dX1GPT0Vgx6eityy43dzNcvSsC4KP8euX6glwJAY1fzFon1sH4+kEol8G0c8t7eHHByLS6TeAcFBUEmk7WqbhcXF7eqgpukpqZi8uTJePzxxzFq1CjceOONWLNmDdavX4+CggKrxyxfvhxqtdp8y83NtUv8cpkUMUGNnc3ZYI3IpVQ1Jtatupo3NlfjUHMi18E53kT2VVVVhbvuugvvv/8+/P2bEldBELB69Wo888wz+N3vfoe4uDh89NFHqKmpweeffy5ixMDfvjtu/vlMkfFzeaS/Z49dP7Cx4n2lSosCdR0AYF5CJP5+ywjcHBcGAPDzNCbeJVXGJcUa9AaknSxCbT2/7HdVLpN4KxQKxMfHIy0tzWJ7WloaJk2aZPWYmpoaSKWWT1EmM35QFtqY5KVUKuHr62txs5dBIcbE+zwbrBG5lCqt8dvmlnO8zUPNmXgTuQzO8Sayr4ceegizZs3C9OnTLbZnZ2ejsLDQoj+TUqnEdddd12Z/pp4gCAJOFbSeShrRg4m3eah5lda84tGNcaFYfE0MpFLjSF6d3vjHav66/QCAW9/egwc+Trf40oBci+MnMdhRSkoKFixYgISEBCQmJmLdunXIyckxDx1fvnw58vPz8fHHHwMAZs+ejQceeABr167FjTfeiIKCAixbtgzjx49HeHh4j8c/OJhLihG5ItNQcu82hprX1OthMAjmN0siIqK+4IsvvsDhw4dx6NChVo+ZRqla68906dKlNs+p1Wqh1WrN9+3Vb8lk7pq9uFDSutmxh0Jm1+u0J8jbONQ8t7wW9TrjHPPYMMtiX/OpqTX1OvOXBd8czsM/7xjdQ5GSPblU4j1v3jyUlpZi5cqVKCgoQFxcHLZu3Yro6GgAQEFBgcWa3osWLUJlZSXefvtt/OUvf4Gfnx9uuOEG/N///Z8o8Q8K4ZJiRK7ItFxYy8S7+f3qep1DlyAhIvtgwZvIPnJzc/Hoo49i27ZtcHd3b3O/zvRnAoxTRVesWGG3OFte+0huRavtvx8X4ZDrtcU01NyUdCtkUvTzbfvfcOeZkh6JixzLpRJvAFiyZAmWLFli9bEPP/yw1bZHHnkEjzzyiIOjss2gYC4pRuRqtDo96hs7nrac462USyGTSqA3CKjW6pl4E7mAtqaaEVHnZGRkoLi4GPHx8eZter0eO3fuxNtvv43Tp08DMFa+w8LCzPu0158JMI5gTUlJMd/XaDR2aXas1elx/avbrT7moejZ2bd+Hm6QSgDTQkf1ekO7X0Ykf5rRQ5GRI7nMHO/eYGCwcY53WXU9yqrrRY6GiGzRfH1PrxbD0CQSiXkbG6wRuQam3UT2MW3aNBw7dgxZWVnmW0JCAu666y5kZWVh4MCB6Nevn0V/pvr6euzYsaPN/kyA/fst1dbroTcIuFRag8uNjcwAYHpsiPlnd3nPDTMHAKlU0m6iDQDThoe0+RjX9nZNLlfxdmWeCjn6+3kgv6IW54qrMD4mQOyQiKgDpjW63d2kkMtaf1fprZRDU6djgzUiF8GCN5F9+Pj4IC4uzmKbl5cXAgMDzduXLVuGl156CUOGDMGQIUPw0ksvwdPTE3feeWePxKiuacDoldsAADPj+lnG32yUmmcPrN3dkt7Q/h+jV24fhVve2m3uet5cblkNBof4OCo0chBWvHvYYM7zJnIppsZqXgrrb8pe7GxORERk1RNPPIFly5ZhyZIlSEhIQH5+PrZt2wYfn55JGrefKTb//MPxpiWJg7wV8Gw2is0Ze6MGeiux+8kbrD52OKeiZ4Mhu2Di3cOGNCbeZ4srRY6EiGxhqnh7Kq0PQzMl3hxqTkREfd327duxevVq832JRILnnnsOBQUFqKurw44dO1pVyR1J29i8rKXNSyZb9G0ZEWa/5YNtdVV/VYf7yKQS+Li3/uI/r6zGESGZCYKA+ev24c7398PQQWWebMfEu4ex4k3kWmo6rHgbE/LaBs63IiIiEtuBC6VI/iQDBepaq00dJg0KRGSAJzzcmr5QHx3p13MBNnpj/hjzz+8vTGhzv8q61l/sX7Yy/Nyeyqrrsf9CGfaeL8Xq/52x+/kzLpXhh2MFfa7ZJed497AhoUy8iVyJqeLdsqO5iYebaag5E28iIiKxzVu3HwBQqW3A7fGtlwl7bMZQAIBC3lR/9PPs+VVJBgZ74+LLs7p07OGccjtHY6n5KL43fzmHlKRhdju3urYBv1+7DwDw3oJ43DiyXwdH9B6sePewwcHGOS0F6joOTSVyAaa5254K60PNTdtr6vl6JiIichbniqsgtdI53M/DmGTfM2kA+vt5YNZVYVD2cFfzzlg+c7j55zljwgEAF0uqHdrZvGWVvUFvgE5vfdh+ZxU2q9bvOHPFLud0FUy8e5jK0w3BPkoAwHlWvYmcXnW9jUPN61nxJiIichZ1DQarncODvI2fw72Vcux64nq8c9e4ng6tU/583SDzz78bFwGZVAKDAJRXNzjsmi0T73HPp+HG1Tvtknw3X1LZ9CVIX8HEWwSDg00N1ph4Ezm7Gm37zdXMQ82ZeBMRETmNep0BOiuJt6pZsid1xnbmVux4fCr++YfRuHZIkDlZrait7+Corkk7WYQ/vr/fYltlnQ7nr1TjYmn3m7pV1DTFXSPSZyd1TYMoTeOYeIuADdaIXIcpofZuY463aah5LYeaExERORVryZWrJNvNRQd64ffxEZBIJOYvDipq7F/xFgQBD3yc3ubjDXaoeF9q1pFdjGm3By6U4uoX/4cV35/o8Wsz8RZBU4M1LilG5Oya5ni3kXgrTXO8WfEmIiJyFgKEVhXv7x++RqRo7EflaUq87V/xvlKpbfdxax3WOyu3WeItRn+c5/97EvV6Az7ad6nHr83EWwSmoeaseBM5P9ObgldbzdXcmHgTERE5I0Oz5apiw3xxVUTHa2c7O1PFW2OHJLi54/lqjH/pZ4tt02NDLO6ra7tfZa9uVuWuEmFFGJlUvPSXibcIBjdWvHPKalDHtX+JnJppmTDPNoeaG7ezqzkREZHzEARAp29KvJXy3pH2mKa+Vdk58f77v4+32qaptbyGPRLv5sPLa0QYai4XcapB7/gNdDHB3kr4usthEIDskmqxwyGidnRY8eZQcyIiIqcjABZdzUeG+4oXjB35uDc2dbVz0lrX0Hr+9ryrIy3uV9bZN/EWY4538+fQ0w3WmHiLQCKRYEiocT1vdjYncm6mNwWvDpqrMfEmIiJyIgKgbzbU/Mlm62G7MnPF285J66kCjcX98QMCcNvY/hbb7DHHu7jZPHJNbQM2Z+Yhv6IW32Xm4+oX/4dffivq9jXa0/w5VNihgt8ZTLxFwnneRK7BlFB7dbCcGIeaExERORdTxXteQiR83XvXmtHv7bxgt3NZW5/7y+TEVh3gm6/B3RVl1fW4cKVptO9ldR0e23QEk1/+Bcs2ZeFKpRb3fdh2V3V70DRLti+V9uzIYybeImFncyLX0FFXcy8ONSciInI6AgRz4i2Tud4SYm1p3hysXtf95b2Apn42Jl/8aaL556gAT/PPH+692K3r7DhT3K3ju6u2Xm9eJhaAxZcA1tz34SHc/MYuZOVW2OX6TLxFMohreRO5BHPFu63lxDjUnIiIyOkIAszLickkvSfxTr5uoPnnIk2dXc5ZqW2qAn+7ZBImDgw031979ziLfQWh6/Oi95wrBQBMjw3t8jm6o6TKcrm0v3x1pN39zxRV4mSBxqI7fncw8RbJkMbEO7uk2urwDiJyDuaKd1tDzRsT8lom3kRERE5FbzB+xpaJ2Mna3vw8FYgONFahL1fU2uWcpvniQd4KjIvyt3hsZLgKOx+/3ny/O8uYmdYJTxoRiva+CzFN3zucU45jeeouX6+lT/a3Xru7vc9vpmHp9pqmwMRbJOEqD3i4ydCgF3Cp2ULyROQ8BEEwD0nybqO5mqnbeb3egAZ+iUZEROQUjF3NjT+LuYSUI4Sp3AEAhXaqeJuWJmvrs05UoKf58055N+Z5l1YbE+8gHwXaKyKXVNajsq4Bf3h3H2a/vRulLSrV7dl6rAAZl8pbbd90KAfrrMyLv6y2/uVFZV2D+UsGXw/r/y6dxcRbJFKpBIMbq95nizjcnPq2NWvWICYmBu7u7oiPj8euXbva3Pfbb7/FjBkzEBwcDF9fXyQmJuKnn35ySFxancE8P8yzjeXEPJpt53BzIiIi5yAIQq+seAPGAh4AXK6wPfFub4i4qdN3Wyu4AE2fd+p0Xfuss/d8CY7nGzunB3op2933SpUW569Umz+D2br88oUrVVjy2WH8fu1ei+db16DHk98cM99/9+5x5tHHBW38G5qGxQd5KxDs3X68tmLiLaIh5sSbDdao79q0aROWLVuGZ555BpmZmZgyZQpmzpyJnJwcq/vv3LkTM2bMwNatW5GRkYHrr78es2fPRmZmpt1ja55It9VcTSGTmr9J53BzIiIi52Ge493LEu8gH2MiuObXczbtn7r1FBJTfzEP9W7pQmNi29/Po81zKOWNibeV9b5tsWj9IfPPQT5KLJo0wOJxf083jI3yA2Ackn66sGl5s5Zzs9vSfKmyipqmeev5LYbk3xQXhgAvBQCgvKYeZ4sqcce7+zD7rd3IK69BZV0D1u/JBgCMCFdBYqceAfapm1OXDO1nXMv7DBusUR+2atUqLF68GPfffz8AYPXq1fjpp5+wdu1apKamttp/9erVFvdfeukl/Pvf/8b333+PsWPH2jU20/xudzdpm2/aEokEHgoZKut0qOaSYkRERE5BAGBoTLx721Dz3MZpqpU2ruVtWnrso70XIZUA3u5y/OnaQQCAQnUdnv/PSQDAiHDfNs/h7mas19Y1dL7IYDAIqG82HS/ER4m/3zICKUlDMeq5bQAADzeZubKc/GkGpg4LNu/f1hcGLWmbdXkvr6mHf2Ny3byqveLWkQAAf0/jYxU19Zjx+k7z409vPo7EgYE4mF0GAPBuo8dPV7DiLaKhoax4U99WX1+PjIwMJCUlWWxPSkrC3r17bTqHwWBAZWUlAgIC2txHq9VCo9FY3GxhSqTb6mhuYhqGzoo3ERGReJp3+fZWys0V75brUbu6pdOGmH/W6Q04nq+2acmry+pavPnLOby09TdzAn3P+oPmx0eEtZ14myre2i4sYfb90csW991kxoKGr7sblHJjOnpDbAiCfZqGdG8/fcX8c1l1A2yhbrZGd/MmcMfyjQ3aJg4MwD2NlXY/T2PDtPIay3MLgoCNB5tGXXb0GbAzmHiLaEiIseJ9/koVmzJRn1RSUgK9Xo/QUMtlJUJDQ1FYWGjTOf75z3+iuroad9xxR5v7pKamQqVSmW+RkZE2ndu0rmV7c56Apj/KnONNRETUc47mVeDnU0XmCnDzda3d3WTmZaB6W8V7aKgPTE+pqFKLW97ajbnv7IGmrnWC2nyuc3WzCrmpiny6WQHQURXvTYdyzT9PGx5i8di2x67FvZMHIGXGMIT4uFs9vkprW+KtaZZ4N0/CTd3fr+qvMm/za6x4t2zcppBJkdOs8XVHnwE7w+US7840YQKMla5nnnkG0dHRUCqVGDRoENavX99D0bavv58HPBWNnc1LbWsaQNQbtZw7IwiCTfNpNm7ciOeeew6bNm1CSEhIm/stX74carXafMvNzW1z3+ZMy1m01VjNxNRwhEPNiYiIes6aX89j8Ufp2H7GWB1tvt5yg94Anb53VrxlUgmCGodlX2zWeKxY03pIdvMKtaa26XPK27+cw6TUn833BwZ7tTvH293NNMe784l3beMxEwcG4INFV1s8Fh3ohX/MHokAr6Zl0lqqsnFIffOO60s+zTCPKjYl4aG+TYm9j7sxof5on+USYz//Vmxxv9rGa9vCpRLvzjZhAoA77rgDP//8Mz744AOcPn0aGzduxPDhw3sw6rZJpRIMCW2c583O5tQHBQUFQSaTtapuFxcXt6qCt7Rp0yYsXrwYX375JaZPn97uvkqlEr6+vhY3W9ha8eZQcyL7S01NhUQiwbJly8QOhYhchKFZ4+76ZiuT9LaKN9CURF5sVryrsVIAaD78vrymKTHdlJ6Ly+qmx77408R2ix6mxFvbieZq+RW1qKxrgEfjsfOvjmp3/9mjw61ur7Rx7fDmSzRX1+uxaIOxoVtFY+Kt8mhaj9vWZL555by7XKq5WmebMP3444/YsWMHLly4YJ7/OWDAgJ4MuUNDQ7xxJLcCZ4oqcfNVYWKHQ33Ili1bOn3MjBkz4OHR9rehnaVQKBAfH4+0tDTcdttt5u1paWmYM2dOm8dt3LgR9913HzZu3IhZs2bZLZ6WTN9ydlTx9uRQcyK7OnToENatW4dRo0aJHQoRuYLGSnfLirdeMHU1d6lao01CfFpXvK0lic9sPm7++bfCtvtKdbRklmkY97NbjuOOqzuesne5ohaTX/4F/XzdEehtHNbdPPG1RiaVYMfjU3Hdq9sttpuS5LoGPRZ8cAATBwbiL0nDWh3//RHLueSmbuamfxfT8HIAuCMhEmu3nzffjwzwQG6ZZfdzqQR4dPoQ2IvLJN6mJkxPPfWUxfb2mjBt2bIFCQkJeOWVV/DJJ5/Ay8sLt956K55//nm7Jg/dMdRc8WaDNepZc+fO7dT+EokEZ8+excCBA+0aR0pKChYsWICEhAQkJiZi3bp1yMnJQXJyMgDjMPH8/Hx8/PHHAIxJ98KFC/HGG29g4sSJ5mq5h4cHVCpVm9fpippONlez9k0zEXVOVVUV7rrrLrz//vt44YUXxA6HiNqwdu1arF27FhcvXgQAjBw5Es8++yxmzpwJACgqKsKTTz6Jbdu2oaKiAtdeey3eeustDBliv0SmZYHWYGieeAvmoeay3lfwRoi54t1U5a2oaZ147z5X0uG5hoZ6dzjFz1RcsHU5sd1njdct1NRB3vg/wLeDxBuwnpxXNVa8r33lVxRXanHoYjlSZgy1iLleZ2izZ5a6sdLf/NwDWgxrHxHma5F4PzAlBg9OHWxedsweXObrn640Ybpw4QJ2796N48ePY/PmzVi9ejW+/vprPPTQQ21ep6vdj7tqSGNncw41JzEUFhbCYDDYdPP0tD7vprvmzZuH1atXY+XKlRgzZgx27tyJrVu3Ijo6GgBQUFBgMZ3kvffeg06nw0MPPYSwsDDz7dFHH7V7bNWNbzKeHSwl4WFOvFnxJuquhx56CLNmzepwCgkRiSsiIgIvv/wy0tPTkZ6ejhtuuAFz5szBiRMnIAgC5s6diwsXLuDf//43MjMzER0djenTp6O62nF9jZoPNQea5hbLZC6T8tjMVPFu3ieqokXF+1yxbYW92aOsD/Fu7m+zYgGgzXnYLdXpmj4TmZqb+Xt2nHj7uru1WsK1sk6H2nq9xTrdmhbDz/Mralv9/weAsup6lDbO/W6eREskEovn0s/XHW/f2bQsbbCP0q5JN+BCFW+TzjRhMhgMkEgk+Oyzz8yVsFWrVuH222/HO++8Y7XqnZqaihUrVtg/8DYMa1zL+2JJNep1Bijkve8PAzmne+65p1MjP+6++26b50Z31pIlS7BkyRKrj3344YcW97dv3+6QGKyp0dpW8WZXcyL7+OKLL3D48GEcOnTIpv21Wi202mYfxBz8ZTkRNZk9e7bF/RdffBFr167F/v374ebmhv379+P48eMYOdK4bvKaNWsQEhKCjRs3mqeN2osp32o+1Bxo6nIus6Fhq6sJahy+3bx4p242hxsApq/aCVuEqqx3E28uoPF6VTbOt37z57Pmn00JcfPlwtoilUrg76lASbNu41VaHS6VWX5hU6yps6hgm76AGBjshQtXmvZ9Pe2MeY54YItEuqFZ4zlPpRxhqqbPxf1U9h8d7TJZXleaMIWFhaF///4Ww09jY2MhCALy8vKsHtPV7sdd1c/XHT6N6wxml7CzOfWcDRs2wMfHx+b9165di6CgIAdG5HxqbKx4m4ea27HzJVFfk5ubi0cffRSffvop3N07/hAIdH2pQCKyL71ejy+++ALV1dVITEw0fyHW/LUsk8mgUCiwe/duu123ZT6tb1Hy1DZWXXtjczWVZ+tqbMs1qZsbFOwFAHjypuHmjugmtiTEHu10NU+/WIZRz/2EP32cbl6+rKTK8ksApVwKbxuX5vL1sNyvsq4B2Vcs86S/fHXE4v75xscHBXvj2VtGmLebms9JJa2Hsc8f39TsTS6VINyv6fc1tp/tn5Ft5TKJd/MmTM2lpaVh0qRJVo+ZPHkyLl++jKqqpm+Czpw5A6lUioiICKvHdLX7cVdJJBLzcPPTnOdN5FTMQ83d2n+jMA8178ISG0RklJGRgeLiYsTHx0Mul0Mul2PHjh148803IZfLode3fn319JflRGTp2LFj8Pb2hlKpRHJyMjZv3owRI0Zg+PDhiI6OxvLly1FeXo76+nq8/PLLKCwsREFBQbvn7M60zxYF76aKdy9MvH2sJLEt53g3H9p9z6QBuPjyLDw4dRC2Pz4V+5dPMz8WYkPibepqXtugNyfXgiDgwIVS3P7uPmjqdNh2sgg3/HOH1SW4wv08bFoqFgB83C0TZE2dDvsvlFpsO5qnNsdw4UoVsnIrAAADg7xw3zUxeOImY/O1XY1zzf09Fa2WlfvzdU19i4b380WojzsSov2REO2PgcHeNsXaGS411LyzTZjuvPNOPP/887j33nuxYsUKlJSU4PHHH8d9993nNM3VAONw88M5Fea15oh6wu9+9zub9/32228dGInzMjdX66DibR5qzoo3UZdNmzYNx44ds9h27733Yvjw4XjyySchk7V+HSqVSiiVHX9gJCLHGDZsGLKyslBRUYFvvvkG99xzD3bs2IERI0bgm2++weLFixEQEACZTIbp06ebG6+1pyvTPk0Jd8uh5tpenHgr3VrXT9W1TVVmQRDM86CvGxqM2+Obio7eSjm8lXIsvWEwtDoDRoR1XGg0Jd4Gwdi47kJJJe58/wDKqi0r29kl1Rbdwk0Gh9ieyHpYeW4t19seGGSs4L+/6wJe2vqbebtpGm/LYeX+VuZrK+UyfPnnRGTmlOPmq/pBIpHgq+REAK2nN9uDSyXe8+bNQ2lpKVauXImCggLExcW124TJ29sbaWlpeOSRR5CQkIDAwEDccccdTtcldUgIO5tTz2s+BUMQBGzevBkqlQoJCQkAjNWnioqKTiXovY15qHkHc7zZXI2o+3x8fBAXF2exzcvLC4GBga22E5FzUCgUGDx4MAAgISEBhw4dwhtvvIH33nsP8fHxyMrKglqtRn19PYKDgzFhwgTz54y2LF++HCkpKeb7Go2mzWkkElgmR23O8e6FibcpEW6uecVbU6szD71/b0G81f1TrCzJ1fb1mpLhOp0ez//nZKuk2yQzt7zVNluHmQPWu7O3ZJoD3jzpBpqq5QFell/Kxrbx5cL4mACMjwkw33dEwm3iUok30LkmTAAwfPjwVsPTnU3TkmLsbE49Z8OGDeafn3zySdxxxx149913zVUlvV6PJUuWOHy6hTMzVbw7WsfbVBGv5VBzIiLqwwRBsGh4CDR90X/27Fmkp6fj+eefb/cc3RnJ0pcq3h7WEu9mXc1PFRqH6Ad5K6wm3Z2lkEkhkRhHF9TV681faliz55xxWLhU0tRYraPRg81FBnia1xx/+PrBePvXc+bH3vzjWCzdmIlKrQ6CICDIW2Exn9x0nQAvy+HqKTOG2nx9R3G5xLs3Gto4x/tSaTXqGvR2eXEQdcb69euxe/dui6GcMpkMKSkpmDRpEl599VURoxNPtdZU8e5gObHGOeDW5jQRUdf15CoGRNQ5Tz/9NGbOnInIyEhUVlbiiy++wPbt2/Hjjz8CAL766isEBwcjKioKx44dw6OPPoq5c+ciKSnJ7rGY5hy3XE6qXt97E29r611X1DSgXmfAyQIN/vj+fgDAwCD7zFWWSCTwcJOhpl6PugaDTf+miYMCzUm4Vycq3n+6diCq6nR44qZh5rnbJhMaq9OCAPxWWIn+/p4WibeP0vjvEtis4v2fR65BTOPQdDEx8XYCwT5K+Hm6oaKmAeevVGFkuKrjg4jsSKfT4dSpUxg2zHLI0alTp2AwtP2NZm9X2zh0vKM3C08ONScioj6mqKgICxYsQEFBAVQqFUaNGoUff/wRM2bMAGCcApqSkoKioiKEhYVh4cKF+Pvf/27fIFrkfgaD9aHmvbGreZiVJcBKqrQYu3KbuTksAPh7dbx2tq3cGxPv2ga9TYl3XH+VOfFu+f+mPVcPCMDGP00EAJxtNiI42EeJEB+luZI+841drY41VbyjAz3xh/gI+Hq4Ia6/c+RWTLydgEQiwdAQHxy8WIazRUy8qefde++9uO+++3Du3DlMnGj8Q7d//368/PLLuPfee0WOTjzVjUPNPTjUnIiIyMIHH3zQ7uNLly7F0qVLeygaI32roebG9+WW3ax7g7bmIle3KAL4W1l2rKtUHm4oq65HTlkNpC2u/8ni8Vi384K5izgALJo0AO/tuADA2MisK5oXP0J8lJBIJPBSys1rc7dkmuMtkUjw6h9Gd+majsLE20kMCfXGwYtlXFKMRPHaa6+hX79+eP31183LfISFheGJJ57AX/7yF5GjE4+pgu3VUXM181BzJt5EREQ9xZT6mdLttpYT640Vb1tZ6+bdVfHR/sguqcapAk2r9byjAjzx+rwxSHjhfwCMzdTCVB54649jkXayCIsmD+jSNZvPDQ/1NVb520q6AcDP034Vfntj4u0kTA3WuKQYiUEqleKJJ57AE088YV4vsy83VTOxtbma6fHaes7xJiIiEkvL5mqm0c29cY63rWxZo7uz5yqvqW+V/Ko83ODXrLpu+n8xe3Q4Zo8O7/I1m3dDt6V67yZrvRSZs3DeyPoYdjYnZ+Hr68ukG4DeIKCuwfhNeYeJd+O3sTUNenODFyIiIupZbU0jljlwiSgx/TXJ2Kk7ZcZQ87rWLYWpPOx2Pd/Ghm7q2gZUtWgoaxribWp+9sfxUXa5ZvOh5hdKjHnSvV2snouNFW8nYepsnlteg5p6XYfrBhPZ29dff40vv/wSOTk5qK+3XJfx8OHDIkUlnppm1euOm6sZHxcEoK7B0OGccCIiIuo+0zxn03febTXwkst6Z+L90PWDMWtUOAYEeuLmq8IwfdWOVvsMCPK02/V8G5NrTa2uVeJtGlXwzl3j8POpom5VuZtr/p3JY9ONXzQ8fuMwXK6oxU8niiz2/d3Y/na5pqOw4u0kAr2VCPRSQBCAc8WselPPevPNN3HvvfciJCQEmZmZGD9+PAIDA3HhwgXMnDlT7PBEYepoLpUASnn7fyqbr6VZw+HmREREomg51NykZSOw3kIikSAmyAsSiQSDgr1w14TWVeaoADsm3h7GQoOmtgFVbcyzDvJWYt7VUXYrIpril0iAKUOCABgLHu8tSLDY74W5cVh+c6xdrukoTLydyJDGqjeHm1NPW7NmDdatW4e3334bCoUCTzzxBNLS0rB06VKo1WqxwxOFqSuop0LeZudQE5lUAnc3459TLilGREQkjraGmsulvT/lkUgkePG2qzB3TFOlOchbaddRtKa1w4sq66Br/MeOCfLC83NG2u0aLXkq5Mj423Qc+UdSq89jkwcHmn++a0IUgu04n90ROJ7ZiQwL9cH+C2VssEY9LicnB5MmTQIAeHh4oLLS+Du4YMECTJw4EW+//baY4YmiWmtbYzUTT4UcdQ31TLypV9uyZUunj5kxYwY8POw3x5CIOqc3v25bdjXXt5F596Xman+7ZQSq6/WYERuKm0eF2fXcpuZmOWU1AIxV6J9TrnP4cm2B3tYTalmzL1Q6KpI4AybeTmSIucEaE2/qWf369UNpaSmio6MRHR2N/fv3Y/To0cjOzu6zzcJMa3J3NL/bxFMhQ1k1h5pT7zZ37txO7S+RSHD27FkMHDjQMQERUYf60uu2rc8sfSnxDvJW4v2FCR3v2AWB3sbE2/TP7K2Qi7pGuqstE2fTJ8qAgIBOnVQikeDw4cOIjo7uUlB9FTubk1huuOEGfP/99xg3bhwWL16Mxx57DF9//TXS09Pxu9/9TuzwRGGqeDefv90eU2WcFW/q7QoLCxESEmLTvj4+Pg6Ohohs0dtft6aEu82u5i6WoDmrgBZrgpsScbG42v9VmxLviooKrF69GiqVqsN9BUHAkiVLoNfzw2dnmTqb51fUokqrs1i3jsiR1q1bB4PBuHRWcnIyAgICsHv3bsyePRvJyckiRycOUwLtpbR9qHnz44h6o3vuuadTw0/vvvtuLk9IJLLe/LptObpYz4q3Qynllp+J6nUGkSIxmjosGD//VixqDJ1hc2Y3f/58m78pe+SRR7ocUF/m56lAiI8SxZVanC2qxNgof7FDoj5Ap9PhxRdfxH333YfIyEgAwB133IE77rhD5MjEVdOsuZotmireHGpOvdeGDRs6tf/atWsdFAkR2aqvvG4FQcDSjZlWH3O1IcmuYmCwt6jXnzO2P/LKa+22dJmj2dTiz2Aw2Jx0A0BlZaVLzgtxBkM5z5t6mFwux6uvvspRKi2YEujONFczHsd/RyIiop7W3lRNVrztp/lw8xUO7GZuC193Nyy/ORZx/Tsele0Men9vfRfDJcVIDNOnT8f27dvFDsOpVGu7VvE2zQ0n6q2kUilkMlm7N7mcU6WInElvfd02T6d1hraHPTPxtp8fH50CAFiYGI1BIle8XU2XXmH5+fnYs2cPiouLzfNCTZYuXWqXwPqqYax4kwhmzpyJ5cuX4/jx44iPj4eXl5fF47feeqtIkYmntrHibescb9N+tax4Uy+3efPmNh/bu3cv3nrrrT67GgKRs+oLr9v2wmfibT8hvu64+PIsscNwSZ1OvDds2IDk5GQoFAoEBgZarJkmkUiYeHeTaUmxs6x4Uw968MEHAQCrVq1q9ZhEIumTw9CrGxNoDxuHmnu4yS2OI+qt5syZ02rbb7/9huXLl+P777/HXXfdheeff16EyIioLb39dSsIQFU7I844x5ucQaeHmj/77LN49tlnoVarcfHiRWRnZ5tvFy5ccESMfYppqHmhpg7q2gaRo6G+wmAwtHnri0k30DTH28vGoeZNFW8ONae+4/Lly3jggQcwatQo6HQ6ZGVl4aOPPkJUVJTYoRFRG3rT69ZUANTq9Ji/bn+b+4m51jSRSacT75qaGsyfPx9SKaeHO4KvuxvCVO4AgLMcbk4kmqau5jZWvE1zvFnxpj5ArVbjySefxODBg3HixAn8/PPP+P777xEXFyd2aETUht78us0uqWn3cVa8yRl0OntevHgxvvrqK0fEQo2aOptzuDk5zptvvom6ujqb93/33XdRWdl3vgzqbHM1U2Wcc7ypt3vllVcwcOBA/Oc//8HGjRuxd+9eTJkyReywiKgdvfV1a0qnZR1kNNKWC34TiaDTc7xTU1Nxyy234Mcff8RVV10FNzc3i8etzRGlzhka6o0dZ66wwRo51GOPPYY//vGPcHd3t2n/J554AklJSfDx8XFwZM6hppPN1Zoq3j031Fyr0yMzpwJHcisQ6uuO6SNC4a10va605FqeeuopeHh4YPDgwfjoo4/w0UcfWd3v22+/7eHIiKgtvf1121FizYo3OYNOf0J76aWX8NNPP2HYsGEA0Kq5GnXfEHY2px4gCAKmTZtm8/IhtbW1Do7IuTQNNe9cxbsn1vHWGwS8/cs5fLD7AjR1TYm+u5sUM0b0w40jQ3Hd0GD4uLu1cxairlm4cKFLvt9LJO13PSbqzVz1dWurlnO4p8eG4H+nigEYX/vsak7OoNOJ96pVq7B+/XosWrTIAeEQwKHm1DP+8Y9/dGr/OXPmICAgwEHROB/Tety2zvE27VfTAxXvV376De/tMDazDPJWYEykPy5cqcKFkmp8f+Qyvj9yGX6ebnj7j+NwzZAgh8dDfcuHH34odghdIgHAvJv6Kld93XaoMZ+WNftSIUzlDj9Phfm+u1zWq790INfR6cRbqVRi8uTJjoiFGg0JMXY2L6nSory6Hv5eig6OIOq8zibefY0p8fayceh2U+Lt2Ip3fkUt1u/OBgC8MDcOd46PglQqgSAIOJavxn+PFmDr8QLkltXiwU8z8MtfpyLYR+nQmIhcgYQlb6Jeq3lB2yAIFkPL3d3YEJqcQ6d/Ex999FG89dZbjoiFGnkp5Yjw9wDA4eZEYjF1J/e2cY63aUh6jdaxifdX6blo0AuYEBOAuydGm4fXSSQSjIrww/KbY/FzylRc1V+FSq0On+y76NB4qG85evQoDAaDzfufOHECOp1zLLHHehf1Va78urVV84q2QbAcWu7uZtv7OJGjdTrxPnjwID766CMMHDgQs2fPxu9+9zuLm6OtWbMGMTExcHd3R3x8PHbt2mXTcXv27IFcLseYMWMcG6CdDOU8byLRCILQ+Yq30vFDzQ0GAV+l5wEA7pzQ9nqrCrkU90+JAQBsPV7osHio7xk7dixKS0tt3j8xMRE5OTkOjIiIOtKbX7eSxq/UhGajWQRBsEi8PZh4k5Po9FBzPz+/Hkmwrdm0aROWLVuGNWvWYPLkyXjvvfcwc+ZMnDx5ElFRbX8IVavVWLhwIaZNm4aioqIejLjrhoR645ffijnPm0gEWp0BOoPxTdyZhppn5VUgv6IW3ko5bhzZr919pw4LgVwqwbniKlwqrUZ0oJfD4qK+QxAE/P3vf4enp6dN+9fX1zs4Ittxiif1VY563a5duxZr167FxYsXAQAjR47Es88+i5kzZwIAqqqq8NRTT+G7775DaWkpBgwYgKVLl+LBBx/s0vNoj0Gw/Ll54q1k4k1OotOJ94YNGxwRh01WrVqFxYsX4/777wcArF69Gj/99BPWrl2L1NTUNo/785//jDvvvBMymQzfffddD0XbPcNY8SYSjanaDTR1K++Iaai5ziCgXmeAQm7/OWW//mbs0Hrd0OAOh86pPNwwJtIP6ZfKcehiORNvO9l2ohDPbTkBpZsMr9w+ClcP6DsNBwHg2muvxenTp23ePzExER4eHg6MyHYStlejPspRr9uIiAi8/PLLGDx4MADgo48+wpw5c5CZmYmRI0fisccew6+//opPP/0UAwYMwLZt27BkyRKEh4djzpw5XX4+1giwrHhzjjc5I5dZ8LW+vh4ZGRl46qmnLLYnJSVh7969bR63YcMGnD9/Hp9++ileeOGFDq+j1Wqh1WrN9zUaTdeD7obmQ80FQWA3RqIeVN04T9vDTWbzEiTNu5/X1OugkNu/KeIvjYn3DcNDbNp/XLQ/0i+VIzOnHLfHR9g9nr7mXHEVHtmYCa3OOFfywU8z8Otfp/apZdu2b98udghdx7dR6qMc9bqdPXu2xf0XX3wRa9euxf79+zFy5Ejs27cP99xzD6ZOnQoA+NOf/oT33nsP6enpdku8TR+PhRYVbymHmpMTsinxHjduHH7++Wf4+/vbdNJrrrkGmzZtQv/+/bsVXHMlJSXQ6/UIDQ212B4aGorCQutzGM+ePYunnnoKu3btsnmt4tTUVKxYsaLb8XbXoGBvSCRAeU0DSqrq2ZWYHC4vLw9btmxBTk5Oq2Fmq1atEikqcVTXd25+NwC4yaRQyKSo1xtQU6+Hn20j+mxWqK7DicsaSCTA1GHBNh0zNtIPAJCZU2HfYPqoV378DVqdAWMi/VBSpUVeeS2+TM/D4mtixA6NiEhUer0eX331Faqrq5GYmAjAmA9s2bIF9913H8LDw7F9+3acOXMGb7zxRrvn6koRrPlYFoMgoFjTdDybq5GzsOlTZVZWFo4cOWLzGr5ZWVkWLxh7aln5basarNfrceedd2LFihUYOnSozedfvnw5UlJSzPc1Gg0iIyO7HnAXeShkiArwxKXSGpwtqmTiTQ71888/49Zbb0VMTAxOnz6NuLg4XLx4EYIgYNy4cWKH1+NMQ81t7Whu4qGQob7W4JAGa9tPG6vdYyL9EOht29+DcdHGL0t/K9SgWqvr1BcJZOl4vhrbThZBKgFe+8Mo7L9Qhr99dxxfpecy8XYRLHgT2d+xY8eQmJiIuro6eHt7Y/PmzRgxYgQA4M0338QDDzyAiIgIyOVySKVS/Otf/8I111zT7jm7UgRrXvEWBGBzZr75Poeak7Ow+VPYtGnTLDoGtscRw6KDgoIgk8laVbeLi4tbVcEBoLKyEunp6cjMzMTDDz8MADAYDMZ5H3I5tm3bhhtuuKHVcUqlEkqlcyS5Q0N9cKm0BmeKKjFpcJDY4VAvtnz5cvzlL3/BypUr4ePjg2+++QYhISG46667cNNNN4kdXo+raky8PW2c323ipZBBXdvgkAZre88bO9JeO8S2ajcAhPq6I0zljgJ1HY7nqzFhYKDd4+orPtp7EQAwe3Q4Bof4INBLiWf/fRy/FVYit6wGkQF2HuJAdscZW0T2N2zYMGRlZaGiogLffPMN7rnnHuzYsQMjRozAm2++if3792PLli2Ijo7Gzp07sWTJEoSFhWH69OltnrMzRbCml7XlHO/m3OWseJNzsOlTZXZ2dqdPHBFh3/mECoUC8fHxSEtLw2233WbenpaWZnWeiK+vL44dO2axbc2aNfjll1/w9ddfIybG+SsUg0O8kXayCOeusLM5OdapU6ewceNGAIBcLkdtbS28vb2xcuVKzJkzxyEdSJ2ZaY63dycrxB6N87yr7byWtyAI2H/BmHgnDupc8jwqQoUCdR2O5jHx7ip1TQO2HLkMAFiYOAAA4O+lQMKAABzMLsP/ThXh3snO/57S10lY8yayO4VCYW6ulpCQgEOHDuGNN97A6tWr8fTTT2Pz5s2YNWsWAGDUqFHIysrCa6+91m7i3ZUiWPNlyg0CzFO/AMBdwcSbnINNnyqjo6MdHYdNUlJSsGDBAiQkJCAxMRHr1q1DTk4OkpOTARi/IcvPz8fHH38MqVSKuLg4i+NDQkLg7u7earuzGhLiDQA4yyXFyMG8vLzM00PCw8Nx/vx5jBw5EoCxv0Jf07SGd+ferE1DuWsb7DvUPLukGsWVWijkUoxpnLdtq1ERfvjpRBGO5FXYNaa+5KeThdDqDBgW6oNxUX7m7dNjQ3Awuww/nypm4u0Cmle82bSUyDEEQYBWq0VDQwMaGhoglVoO85bJZDA0z5IdEQMEeCllqK9x7HWIOsulJvzNmzcPpaWlWLlyJQoKChAXF4etW7eavxgoKChATk6OyFHaz5AQY2fz86x4k4NNnDgRe/bswYgRIzBr1iz85S9/wbFjx/Dtt99i4sSJYofX4zR1DQDQ6W7Vps6p9q54H8guA2BsltbZJjGjI/wAAEfz1HaNqS/54VgBAOCWUWEWydr02FC8tPU3HMguhaauAb59qLu5rTIyMhAfHy92GK0IAoeeE9XW1qKsrKxVM+QTJ06Yv3xvz9NPP42ZM2ciMjISlZWV+OKLL7B9+3b8+OOP8PX1xXXXXYfHH38cHh4eiI6Oxo4dO/Dxxx/btWGr6XV8LL/pPc4gAPHRAfjfqSIAgLaBCTg5B5frNrBkyRJcvHgRWq0WGRkZuPbaa82Pffjhh+0umfDcc88hKyvL8UHayaAQ47q7JVX1KK+u72Bvoq5btWoVJkyYAMD4OpkxYwY2bdqE6OhofPDBByJH1/MqaoyJt79n5xIpc8XbznO8DzQOM+/KUPGrIlQAgJyyGpTx70inqWsbsPuccdTHzKvCLB4bGOyNgcFeaNAL2HnmihjhOb3mU8PE1jzP5mre1Nd9/fXXGDp0KG6++WaMGjUKBw4cMD+2YMECm85RVFSEBQsWYNiwYZg2bRoOHDiAH3/8ETNmzAAAfPHFF7j66qtx1113YcSIEXj55Zfx4osvmkeq2tPJgqbO54IgIPV3V5nva3X277tC1BUuVfHuazwVcvT380B+RS3OXanC1V62dZUn6qyBAweaf/b09MSaNWt69Ppr1qzBq6++ioKCAowcORKrV6/GlClT2tx/x44dSElJwYkTJxAeHo4nnnjCrm/kZTXGBNXPs3NrcZvneNu5q7npA8XYTg4zBwCVhxtigryQXVKNo3kVmDrMtjXA7UWnN+Dzgzn49bdi/H979x3eVNn+AfybjqQ7pbulEwqlrDLKKMhStgKKA9QXQRF/vIgKvKggKuCq8jpQERDlZTgAFRwoAlWm7EKhzFJG6aB7D5q2yfn9kSY0TUfaJs3o93NduWhOTs55GnI3uc/zPPeTWSRDTokMIhEQ7O6IYHflxcXUgjLkllQgqqM7FozqXOdIg6rquXo21q17vfjvy5molAvo7O2E0OrpPzWNDPfGuuwbiLmUiQd6+rVq20zFY489Vud2QRCQl5fXyq2pX83RCsriS+zyprbrnXfewZkzZ+Dp6YnY2FhMnz4dS5YswRNPPKFzMeXGLsz7+Phgw4YN+mhuveqq3aAQoLEaUHklE28yDUy8TVyolxPSCu4gMbME/YKZeJNhdOjQAadOnYK7u2aPakFBAfr06YMbN24Y7Nzbtm3DvHnzsHr1agwePBhffvklxo0bh0uXLiEwMFBr/5s3b2L8+PGYNWsWvv32Wxw5cgRz5syBp6cnHn74Yb20qaA68XZzbFri7VideOuzqnlFlQI3sksBAGE+zs06RoS/tDrxLmw08b6ZU4rMonI4iK3hKLGBn9RefUGhqRQKAS9sicOfFzK0HssskqmH0KtcySjGmVv5+PbZARrJ98YjN7FiTwKsRCI8OyQEzw7pgCPXcnAtqwQDQtzQN6idwebr7jqvbPu47r51Pj62uw/WHbqBvRczUSKranJBPkvw119/4ZtvvoGTk+aFCUEQcOjQISO1Sht7vInuqqyshKencpWMyMhIHDp0CJMnT8a1a9fMvv6BotaFAxd7TgMi09DkbwgzZszAM888ozHEmwynk5cTDl7NRmJWsbGbQhYsKSkJcrl2siiTyZCWllbHM/Tn448/xsyZM/Hss88CAFauXIk9e/ZgzZo1iI6O1tp/7dq1CAwMxMqVKwEA4eHhiI2NxYcffqi3xDuzSFlozt2paYm3avkxfa7jfT27BFUKAc52NvCV2jXrGD39XfHL2duIb6TA2poD1/HB7isa22ysRBjW2RNvPdgd7V3tm3Te704m488LGRBbW2HB6M4I83GGp5MEVQoBN7JLkJJ3B1YiwNfVHrbWIiz77SLOpRbiuc2nseHpfrCztcbXh2/gnT8uq4+58q9ErPwrUeM8Y7p5I3pyzyZfKGlMcXklDiUqh5CP6+FT5z69A1zRwdMRN7JLsSs+HY/1q3vJG0tSUlKikWQPHz4cTk5OGDZsmNa+vXv3bs2m6UzHDj0ii1E7br28vBAfH4+ePXsCANzd3RETE4Pp06cjPj7eWM3UC1V8b5jRDxuPJmHh6DDjNoioWpMT7+LiYowePRoBAQF4+umnMX36dK2iDKQ/qqGN17JYYI3077ffflP/vGfPHkilUvV9uVyOv//+G8HBwQY7f0VFBU6fPo1FixZpbB89ejSOHj1a53OOHTuG0aNHa2wbM2YM1q9fj8rKStjatuzKtiAI6oKGIR6OTXqugwF6vK9mKi+6hXk7N7sXIiJA+f96NqWw3mrO17JK8HFMAgCgvas9BEFAUXkVSmRV+PtKFq6uO4Y/XhyicwExuULAukPXAQCvjA3Ds0M6aDxeV3X2Dh5OePyr4zh2IxdT1h1HmLcTfohNBQA8P6Ijwnxc8NbOS8gpkcHbRYIe7aU4eDUbey5mIiHjCDY/MwCB7vpbT/vvy1moqFKgg6cjwrzrHm0gEonwSF9/rNidgB9Pp7SJxLtdu3ZIT0+Hh4cHAGDHjh317rt79+7WalbjalY1Z583tTG14/abb76BjY1mGiAWi7FlyxbMnTvXGE1sloY+Fkd08cKILq07vYqoIU1OvLdv347c3Fx8++232LhxI5YuXYqRI0di5syZmDRpUou/9JKmTt5MvMlwHnzwQQDK5GH69Okaj9na2iI4OBgfffSRwc6fk5MDuVwOb29vje3e3t7IyNAengwAGRkZde5fVVWFnJwc+PpqDwmWyWTq5dIAoKioSGsflT0XM1FQVgmJjRU6eGjP6W2IOvHWY1XzKxnViXczh5kDQFdfKaytRMgpkSG9sBx+tXquFQoBi7bHo1Iu4L4uXlg/o5/6sYSMYszcdAopeXfwv39uYt7IzjqdM+ZSJlLy7sDVwRZPDtBtScoe/lJ89VQknvsmFudSCnAupQAA8MK9oVgwqjNEIhFGd/VGRmE5At0cYGUlwoW0Qsz+9jSScsswec0R/G9GP/SsruReVlGF7adTkZxXhsGhHhjayRNWVrpfvPijupr5/T18G7zoMbm3Pz7ck4BTSfm4eLsQ3fyk9e5rCeRyucZyQIMHD8aOHTu04rKpoqOjsWPHDly5cgX29vYYNGgQPvjgA4SF6ae3ykpjjrdeDklkNmrH7ZQpU+q9aDZ48ODWahZRm9KsKjXu7u546aWXEBcXh5MnTyI0NBTTpk2Dn58f5s+fj8TExMYPQjoJ9VR+2U4vLEdx9RJHRPqiUCigUCgQGBiIrKws9X2FQgGZTIaEhAQ88MADBm9H7aSmsTV269q/ru0q0dHRkEql6ltAQP29ksM6e2LuiFC8eF+nJs9tVg8112Mhl4TqxLtLCxJve7E1Olf32KqS2Zo2H0tC7K18OIqt8daD3TUeC/NxxstjlInPD6dSoFDolrH875+bAIAn+gc26XWM6uiOPfOGYuY9IZjcpz02P9Mf/xkdpv6/tbO1RrCHozqB7t5eih3/HoRwXxfklFTg0bXH8MpP5/DO75dwzwf78cavF/HV4ZuYseEUJn1xBEeu6bYufU6JDAcSsgAA43vUPb9bxUdqp97ns7/b3udffHw8SktLW3ycgwcP4vnnn8fx48cRExODqqoqjB49Wi/HBrh8GFFN+opbItJdi6rApKenY+/evdi7dy+sra0xfvx4XLx4EV27dsWKFSswf/58fbWzzZI62MLTWYLsYhmuZ5fWOTyTqKVu3ryp/rm8vBx2ds2bS9xUHh4esLa21urdzsrKqrf3zMfHp879bWxstIrDqSxevBgLFixQ3y8qKqo3+bYXW2PhmOb1sN3t8dbfHG9V4t25nqHOuuoX3A6X04twKDFbY1mslLwyfLBbOcR80fjwOudxj+nmAyeJDW4XliMuJR99gxou9Hg+tRAnk/JgYyXCU1HBTW6rn6s93nigq877e7nY4Yf/G4gXtsThQEK2eng6AAS6OSAyqB32XMzA+bRCPPn1CdzXxQseThJcSi+CSKRcn/upqGCNNdK3nUpBpVxARIArwn1dGm3Di/d1wh/n07HnYiZ+iUvDg705Baupag9L37BhA7y8vLSWDm2umnl37eJLRGSeeEGNzEmTe7wrKyuxfft2PPDAAwgKCsKPP/6I+fPnIz09HZs2bcLevXvxzTff4K233jJEe9ukTtXzvBMzWWCNDEOhUODtt99G+/bt4eTkpK5i/sYbbxh0HW+xWIy+ffsiJiZGY3tMTAwGDRpU53OioqK09t+7dy8iIyPrneoikUjg4uKicTMEB4mquJp+eryLyyuRVnAHANDFp2VtHtVVeSHjr8tZ6l5rQRCwaEc87lTKMSDEDU/2164iDyh7mUeGK+fJ7bmY2ei51h1Wvn8e6OkLn2YWhGsqZztbbJjRD9/PGoBZQ0LwaF9/rHqiN/b9Zxg+ntILB18ZgRmDgmFtJcLfV7KwLTYF59MKEZ9aiPd2XcHk1UeRVVwOQLn0zDfHbgEApg3UbZh8Z29nzB7WEQAw/4ez+PSvRPUSaJbo+++/x5kzZ1BZqRyJZYgqyIWFhQAANzf9r+jBvJvaotaIWyKqX5N7vH19faFQKPD444/j5MmT6NWrl9Y+Y8aMgaurqx6aR4CywNrR67m4ls153mQY77zzDjZt2oQVK1Zg1qxZ6u09evTAJ598gpkzZxrs3AsWLMC0adMQGRmJqKgorFu3DsnJyep1uRcvXoy0tDRs3rwZADB79mysWrUKCxYswKxZs3Ds2DGsX78eW7ZsMVgbdeVgqyqupp8eb1VhNR8XO0gdWlY/Y0CIO5ztbJBdLMP+hCzcF+6N708m48i1XNjZWuGDh3s2OP95TDcf/HL2NvZczMDicV3q/cKWmFmM3+NvAwCeG9qxRW1uKpFIhEEdPTCoo4fWYx5OEiyb2A0P9/HHzvjbsLOxQpiPCwrvVOKjvQm4lF6Ex9Yew7fPDsDOc+nIKCqHr9QOD/RseJh5Tf8Z1RkFZRXYcjIFn/x1FfuuZOKjxyIQ6nV3tMKdCjnmfn8Gc+8NRe/Adnr5vVvbPffcg6VLl6K4uBi2traoqqrCkiVLMGTIEPTp0wcREREtHjUjCAIWLFiAe+65B927d693v6bUb9BYx7tFrSMyP60Rt0TUsCYn3p988gkeffTRBoOzXbt2GkNXqWVUPd7XMpl4k2Fs3rwZ69atw3333adOeAGgZ8+euHLlSgPPbLkpU6YgNzcXb731FtLT09G9e3fs2rULQUHKnsb09HQkJyer9w8JCcGuXbswf/58fPHFF/Dz88Nnn32mt6XEWsJBot+q5gkZypjv3IL53SpiGys80T8QXx66gaW/XcSJm3nYeCQJALBwdBiCG6ngPrSzJ8Q2VriVW4bErJI6h76XV8ox/4ezEARgdFdvdPUzzMiClujhL0UPf83iZ4ND3fHk1yeQlFuGUR8fgqxK+f83b2QnjeHnjbGxtsJ7D/XAgBB3vPnrBZxLLcT4z/7BhJ5+CHJ3gIeTBLsvZuDQ1WxcSi/CgZeHQ2LTvDXSjUm1NndiYiJOnz6NM2fO4PTp01iyZAkKCgpgY2ODLl26tGhJorlz5yI+Ph7//PNPg/tFR0dj+fLlOh1TYx1vdnlTG9MacWsc7LUn89HkxHvatGmGaAc1QNVbksjK5mQgaWlpCA0N1dquUCjUQ9IMac6cOZgzZ06dj23cuFFr27Bhw3DmzBkDt6rp7q7jra/EW9l715LCajX937CO+D0+Han5d7DukHI4+NhuPnhmcEijz3WU2OCeUA/su5KFvRcztBJvQRCw8MdzuJBWhHYOtnhrUv29lKYmyN0RP80ehCe/Po7r2cpiQ9MGBuGxyKYvDSYSifBg7/YY2MEdi3bE40BCNrafSdXYR2xthU+m9DLLpLumTp06oVOnTpg6dap6282bNxEbG4u4uLhmH/eFF17Ab7/9hkOHDsHf37/BfZtSv0GksZwYUdtkqLglosa1qLgatQ7VWt4p+WUor5Q3qQeGSBfdunXD4cOH1b3MKj/++CN69+5tpFaZH0exfoeaq5cSa2FhNRU3RzF+mB2F9YdvolRWhUGh7pjQ00/nJbZGd/VWJt6XMjH33k4aj20/k4bf49NhYyXC6if7ttrcbn3xkdrht7n3YN+VLPi52jVaQE6X422Y0Q/HbuTi+PVcZBXLkFUsg6PEBs8N6aDV624pQkJCEBISgkcffbTJzxUEAS+88AJ+/vlnHDhwACEhjV8QkkgkkEgkzThXk59CZLFaErdEpDsm3mbAw0kMVwdbFJRV4np2icWvEUutb+nSpZg2bRrS0tKgUCiwY8cOJCQkYPPmzfj999+N3TyzoVo2q1QPPd6CIKjneLdkDe/a2rva480JulcMr+m+cG+IROcRn1qI2wV31OuBF5RVIHrXZQDAf0aHIapj3dXlTZ2jxAYTIvz0dryG5pyTtueffx7ff/89fv31Vzg7O6tXL5BKpbC3166233Ts8iayNKwPR+akWet4U+sSiUQI9aye583h5mQAEyZMwLZt27Br1y6IRCK8+eabuHz5Mnbu3IlRo0YZu3lmw7F6qHlFlaLFFa2zi2XIL6uElejuqBdj83SWoG91QbC/Lt+tbr5iTwJySyvQycsJM+9pvJeSqC5r1qxBYWEhhg8fDl9fX/Vt27Ztejm+5lBzZt5ElmrzM/2N3QSiOrHH20x08nZC7K18Jt5kMGPGjMGYMWOM3QyzpurxBoCySjlcrJt/bTOhurc72MPRpKaXjOnmg9hb+fgxNhXTBgbhXGohtpxUFr97+8HuENvwei41j6ELntWcUaFg3k1kkbxdJBja2dPYzSCqExNvM6EusMbK5mRAFRUVyMrKgkKh2VsbGFj3+s6kSWJjBWsrEeQKAXcq5HCxa/4SYAl6nt+tL5P7tMeHexNwPq0Qv527jc/3XYMgKLcP7GCeQ8ypbbCq0eVtyWusE7UltUeai1jlnEwYE28zoRpqyrW8yRASExPxzDPP4OjRoxrbBUGASCSCXK6fKt2WTiQSwcHWGsWyKpTKWlZgTV1YTY/zu/XB3UmCKf0CsPnYLby09SwAwMtZgtfvb968cSJjuJFTCi8X8yoASESN45xvMmVMvM2Eai3vpJxSVMoVsG3BEFai2mbMmAEbGxv8/vvv8PX1hYifXM3mIFEm3i1dUiyxeqh5XetlG9srY7sgKbcMh65mo6OnI1Y/2RdujmJjN4tIZ0t/vYg984cauxlE1EL8ukLmhIm3mfCV2sFRbI3SCjlu5Zaqh54T6cPZs2dx+vRpdOnSxdhNMXvKtbxlLUq8BUFQryfdyUQKq9XkJLHB5mf6o7i8Ek4SG16oIbNTVF5p7CYQkQHw04hMGbtNzYRIJFIPN+c8b9K3rl27Iicnx9jNsAgOeljLO7NIhhJZFaytRAhyd9RX0/TO2c6WSTeZjZq127iON5Fl4mcSmTIm3mZEXWCNlc1JD4qKitS3Dz74AK+88goOHDiA3NxcjceKioqM3VSzcjfxbn6P9/XqWg5Bbg6sEk5kAJHB7YzdBCLSAxZTI3PCoeZmRF1gjYk36YGrq6vGlWFBEHDfffdp7MPiak3nUL2Wd0sSb1WMd/A0vWHmRJYg3NfF2E0gIgNghzeZMibeZkQ115M93qQP+/fvN3YTLJI+hpqrerxDTXB+N5ElqORyYkRE1MqYeJsR1ZfwG9klkCsEWFvxsh4137Bhw9Q/JycnIyAgQGtulCAISElJae2mmTV99nh39DTd+d1E5oyJN5FlqN3DzR5vMmWcPGhGAqrne8qqFEjNLzN2c8iChISEIDs7W2t7Xl4eQkJCjNAi86Xu8W7BOt7s8SbSPwF3K6ox7yayTJzzTabM7BLv1atXIyQkBHZ2dujbty8OHz5c7747duzAqFGj4OnpCRcXF0RFRWHPnj2t2Fr9srYSoaMnK5uT/qnmctdWUlICOzs7I7TIfDlIWlZcrai8EplFMgBARybeRAahYFlzohZbs2YNevbsCRcXF/X37D///FP9uEgkqvP23//+12BtYo83mTKzGmq+bds2zJs3D6tXr8bgwYPx5ZdfYty4cbh06RICAwO19j906BBGjRqF9957D66urtiwYQMmTJiAEydOoHfv3kb4DVou1MsJl9OLcC27BCPhbezmkJlbsGABAOWH4xtvvAEHBwf1Y3K5HCdOnECvXr2M1Drz5GCr/LNa2szE+0b1+t1ezhK42NnqrV1EdJdCwcSbqKX8/f3x/vvvIzQ0FACwadMmTJo0CXFxcejWrRvS09M19v/zzz8xc+ZMPPzww3prQ+08m3k3mTKzSrw//vhjzJw5E88++ywAYOXKldizZw/WrFmD6Ohorf1Xrlypcf+9997Dr7/+ip07d5pt4q0qsHY1s9jILSFLEBcXB0DZ433+/HmIxWL1Y2KxGBEREVi4cKGxmmeWHKt7vO80s7iaan43h5kTGQ7zbqKWmzBhgsb9d999F2vWrMHx48fRrVs3+Pj4aDz+66+/YsSIEejQoUNrNpPIZJhN4l1RUYHTp09j0aJFGttHjx6No0eP6nQMhUKB4uJiuLm5GaKJraKzN4eak/6oKps//fTT+PTTT+HiwiV2Wsq+eo53c3u8VfO7O3IpMSK9qjm6nEPNifRLLpfjxx9/RGlpKaKiorQez8zMxB9//IFNmzY1eiyZTAaZTKa+X1RUpHM76po2R2QqzCbxzsnJgVwuh7e35vBqb29vZGRk6HSMjz76CKWlpXjsscfq3aclwd4awnyUidHVzGJWNie92bBhg7GbYDEcq6ua32lm4p2SpyycGOTu0MieRNRcTLyJ9OP8+fOIiopCeXk5nJyc8PPPP6Nr165a+23atAnOzs6YPHlyo8eMjo7G8uXLdTp/7USb34rJlJldcbW6ljvS5erWli1bsGzZMmzbtg1eXl717hcdHQ2pVKq+BQQEtLjN+hTo5gA7W2Vl86TcUmM3h4hqudvj3byh5qn5dwAA/u3s9dYmItLExJtIP8LCwnD27FkcP34c//73vzF9+nRcunRJa7///e9/ePLJJ3Uq2Lp48WIUFhaqb01a1pSZN5kws0m8PTw8YG1trdW7nZWVpdULXtu2bdswc+ZM/PDDDxg5cmSD+7Yo2FuBtZUInb2dAQAJGZznTWRqWtrjnVagTLzbu7LHm8hQ9LGcmCAIePWneHy0N6HlByMyU2KxGKGhoYiMjER0dDQiIiLw6aefauxz+PBhJCQkqGs0NUYikagrpatuumLeTabMbBJvsViMvn37IiYmRmN7TEwMBg0aVO/ztmzZghkzZuD777/H/fff3+h5WhLsraWLjzLxvsLEm8jkqJYTK2nGOt7llXJkFyunurDHm8hwBD30eN/MKcW22BR8vu8aSpsR70SWSBAEjSmbALB+/Xr07dsXERERRmoVkWkwmznegHLpo2nTpiEyMhJRUVFYt24dkpOTMXv2bADK3uq0tDRs3rwZgDLpfuqpp/Dpp59i4MCB6t5ye3t7SKVSo/0eLaWa552QYVrzz4kIcJYo/6w2J/G+Xd3b7SC2hqsDlxIj0qeaqbY+hprXjPHbBXfQqXo0GlFb8dprr2HcuHEICAhAcXExtm7digMHDmD37t3qfYqKivDjjz/io48+apU2sbgamTKzSrynTJmC3NxcvPXWW0hPT0f37t2xa9cuBAUFAQDS09ORnJys3v/LL79EVVUVnn/+eTz//PPq7dOnT8fGjRtbu/l6wx5vItPlZFedeJdX6VyDQuXuMHN7fnkgMiB9DDXPL6tU/5xXWtHyAxKZmczMTEybNg3p6emQSqXo2bMndu/ejVGjRqn32bp1KwRBwOOPP26QNtT+qOQnJ5kys0q8AWDOnDmYM2dOnY/VTqYPHDhg+AYZQVh14p2cV4ayiio4iM3uv5HIYjnbKXuqqxQCyisV6mJrukhjYTWiVqGPoeYFZXeTbSbe1BatX7++0X2ee+45PPfcc63QGiVesyZTZjZzvOkuDycJPJwkEATgKtfzJjIpjmJr9Qd/cXllwzvXoqpo3p6JN5FB6WOoec1ke89F3ZY1JSLDErHPm0wYE28zpRpuznneRKZFJBLBqXqed3ET53mrhpr7t2NFcyJDyiurxPbTqc0uilZeKcfynXeXTKpUcHkyImNgok3mhIm3mQrjPG8ik+VSPdy8uLxpX+pT88sAKOd4E5F+1ezkPnQ1G//58RyW/Hy+Wcc6lZSncT+9+qIZERkXh5qTKWPibabUiXc6E28iU+NcXWCtqUPN0zjUnKhV/XL2drOeV7uDO72wXA+tIaKWauoFb6LWxMTbTIWrlhTLLNZLkRgi0h/VUPOSJnwBqJQrkFGk/PLO4mpErcOqmb1jNQurAcr53vwsJmp9tXu4s4tlde9IZAKYeJupTt5OsBIpP+yzS/hHhsiU3O3x1j3xzigsh0IAxDZW8HCUGKppRFSDlY7jUu9UyJFRo1e7oExzNIusSoE7lXK9to2Imo5DzcmUMfE2U3a21gh2dwQAJHCeN5FJUS0pVtSEoebqiuau9rBqbjccETVAu0da11h7eM1RDIz+G0k5pQCA/Ooe78f7B0Jso/wqxSXFiIyPiTeZMibeZozzvIlMk1N1j3dJEyomqwqrcZg5UevR9RrXpXTlCiK/Vs8JV/V4t3OwhZuDGACQX9q0mg5E1HK1Q5hVzsmUMfE2Y12q53mzsjmRaWnOUHPVUmKsaE7UenQdaq5SWqGMadWwc3cnCdo5KhPvvDL2eBMZGweMkSlj4m3GVD3eCZlcy5vIlKiWE2tKcTVVRXP2eBO1nqYm3jvOpAIArmYpL3h38nKCm6My3vM51JzI6EQca04mjIm3GetSnXgnZpagSq4wcmuISEVV1bxY1ow53ky8iVqNLr1jNauV55Qok+vb1SNUgt0d4VZdDJFzvIlaX+08m2k3mTIm3mYs0M0BThIbyKoUuJ5dauzmEFG1lg01dzBIm4jaurpW+9KluFqlXPOJS3+9gPJK5cXudo628HRSJt4p1XUaiMh42OFNpoyJtxmzshKhq59ynvf5tEIjt4aIVFRVzXVNvOUKAemFHGpO1Np0GWouq9JcJmzTsVsAABsrEZwkNujhr/wcjksu0Hv7iKhpONScTBkTbzPXo70UAHCBiTeRyVAPNddxObGs4nJUygXYWIng7WJnyKYRUQ26Jd51T+VydRBDJBKhp78rAOMt7VklV2Ddoeu4nl1ilPMTGRMTbTInTLzNnCrxjk8tMG5DiEitqUPNVYXVfKR2sGZJVqJWo0u41Zd4t3NQjmxxtVf+e6dSDrlCQOGdSvUc8Nbw5aEbeG/XFYz6+GCrnZOIiJqOibeZ616deF9KL2KBNSIToa5qruM63qmsaE5kcHVM8dapx/vS7bpXDrG1Vn6Fcqwe4QIok+9Jq/7BoPf3Iau4vFntbKp/EnMAAIq6fsEmyCgsx4tb4hBzKVMPrSJqHbUjWKirmAORiWDibeY6eDjCUWyN8koWWCMyFU7VPd5lFXKdLoixsBqRcejS4z3nu9Pqn0+/PlL9s4218skSGyv1cXKKZUjKVRZZO3ItR38Nrccf8ek4diNXff/3+NvNPtYvZ9Pw27nbmLU5FjklMnXdCUuSUVgOeUuvUJBJ4/8umTIm3mbOykqEbn7KXm8WWCMyDaqh5oBuvd7s8SYyDl2qmtecQ+peXcEcgLoeg0gkgoNYGfM1E9/UPMMnrs9/f0bj/tzv4zBjw0k8uvYoKuoZIl+fXefT1T9HvvMXoqL3acwbFwQBCgMlrUXlldh57jbuVMgb37mZYpPyMDD6b7z+ywWDnYNMADNvMmFMvC1AdxZYIzOVn5+PadOmQSqVQiqVYtq0aSgoKKh3/8rKSrz66qvo0aMHHB0d4efnh6eeegq3bze/l8cQbK2tYGer/POqyzzv1OpliLiGN1Hr0mWo+QM9fTX+Hd3VGwDweP8A9T53KpUJ44d7r6q3XaxniLq+lFfWnaQeSMjGqaR8nEstwLWsYmQUNj7k/U6FHPGp2t8hfohNAQCUVVRhyIr9ePLrEy0eyptTIkNOiUxj28IfzuGFLXH45K+r9TyrcUk5pXX2ZsenFqDXW3vxyNpjAIAtJ5MbPZYgCDh4NRuZReX1Hrf2Ob49fotT/oyhVggz7yZTxsTbAqiWMmGPN5mbJ554AmfPnsXu3buxe/dunD17FtOmTat3/7KyMpw5cwZvvPEGzpw5gx07duDq1auYOHFiK7ZaN04S3ZcUUw0193dl4k20evVqhISEwM7ODn379sXhw4cNdi5dihmqiqv1DWoHAFj1RB/8/sI9GBHmpd6nrsQstaDudb1/j7+NaetPICmn/ulhF9IKcTm94cQ9MfNub7Sns6TOx0d+fAgDo/9uNFmur0BrYZlyZYZd5zOQmn8Hx27kYn9CVoPHEgSh3vN1WrILke/8hch3/tJYpm1v9bzyjUeTtJ6jUAhIzCxGlVyB1385jw1Hbmrts/HITQz/8AA+2pug9dgPsSkoKNNcYWL9Pzcb7F1f+Vcipv/vJAa89zeGf3gAHV/bha01EvY7FXL13+3dF9IxcdURvP7LBYQu+VProgIRkQoTbwugWsrkfFphk4eWERnL5cuXsXv3bnz99deIiopCVFQUvvrqK/z+++9ISND+8gQAUqkUMTExeOyxxxAWFoaBAwfi888/x+nTp5Gc3HgvRmtysdNtSTFBENRVzf3bcY43tW3btm3DvHnzsGTJEsTFxWHIkCEYN26cXuK7rmRQbN3416DS6ukiqiJqYhsrdG8vbXQZo+ziuhOwt3ZewuHEHHwUU3fvbnF5JSavOYpxnx5GfmkFSmVV+CE2BWUVmhfxag4z379wuNZxjly/O8c8PrUQcoWAM8n5Wsf5OS4VU9YdBwAM6uiu8di1LGVy//6fV9TbntkYW2e7ASAlrwyzvz2NTkv+RGxSnnr7lYwi9Hk7BpXyu/8HEz8/AgAavcSVtXqMs4tl6PNODEZ9cgihS/7Et8eTsXznJa3vOst2XgIArD5wXWO7IAh1jjx4+/dLCH9zd7092Z/+nai17bWfz+PS7SKk5JVh/razGPz+Pvx1KROzv9Uc7u9Uo9getT4WVyNTxsTbAnTwcISboxgVVQpcuM1ebzIPx44dg1QqxYABA9TbBg4cCKlUiqNHj+p8nMLCQohEIri6uta7j0wmQ1FRkcbN0KTVSw0V3mk48c4pqYCsSgGRSLmcGFFb9vHHH2PmzJl49tlnER4ejpUrVyIgIABr1qwxyPmqFI1frFYl3g0lVB8/FqG1LbNIhnWHruOH2BR1MiAIArKqE/L6poclZpWoE8vHvzqObkv34JWf4tH1zT0aSWpynrJHXWxjBSeJjVav9x/xd+ds70/Iwo4zqZi8+ihm1kqc5287p/45IsAVk3u3V9+/Ud0rXzuZUbVPoRDwxi8X8PXhGwCAof/djz0XM1GlELDk5wvIK60AAMzbelb9s0pCZjHySitwpcb654IA7Ltyt6r6s5tOafVWA8DH1RctcktkSMzUXD/95R/Pqdt78XYR4pILYG0lwrP3hGgdp661z2sn/yoKARj/2WEMWbEfuy9mKNu3WfO1/HRqL9jZWtf5fDIMUa2x5qydR6aMl+UsgEgkQp/AdvjrciZOJ+WjT2A7YzfJogmCgDPJBdhzMQMnbubhZnYJyirksLW2gq/UDsEejujk5YSufi6IDHZDew4frlNGRga8vLy0tnt5eSEjI0OnY5SXl2PRokV44okn4OLiUu9+0dHRWL58ebPb2hzS6rV9CxpJvFXDFb2d7SC24bVQarsqKipw+vRpLFq0SGP76NGjm3QxrimqGvmWXilXqKeLODaQeAe63R2t8lDv9vg5Lg0A8N4uZU+xIAiY0i8QN2sML1cleH9fzsQnf13Fh49GoIuPC1Ly7g5Rr5mUAsoh2eN7+Gokwn+8cA8AYFx3H2w+dqvO9m07lYL06rnex27kYtH2ePx7eEcEuTtq7NfV1wUvjw5DkLsjPvnrKvJKK3A+tRAVtZLRW7ml6OTtjDUHr+Ob48pzJmaWoGZ+npBZjD5vx2DTM/21fg+Vl7bGoUd1nRqVDUeScG8Xb5y+lYdzdcw7B4C1B69jZLgX5v9wFim1itj9eDoVj0YGoKe/FA98/g8A5TSB1x/oipT8Muy5eDex//tyFjp7O2s8P7dE8wKB6nW51MDQf2srEa69O67RURBE1LbxW56FiAxWJtuxt/Ia2ZOaq6yiCltOJmP8Z//g4TVHse7QDZxLKUBReRWqFALuVMpxI6cU+65k4ctDN/DSVuVQtEHRf2Pprxdw+laewSrCmpJly5ZBJBI1eIuNVfYS1PUlRRAEnb68VFZWYurUqVAoFFi9enWD+y5evBiFhYXqW0pKSvN+uSZwrU68C+voralJVViNFc2prcvJyYFcLoe3t7fGdm9v73ovxrV0NEuVvP6/yf8k5qDTkj/VSWNDPd6qC22AMkmrbe3BG5BVyXHvRwfV2wrvVEJWJcfMTbG4kFaE+dvOIbOoHC9tPVvveU5VD98uunN3uHiguzLpf35EKIaHeWLJ+HCt56XXKrC29VQKpq47rlGgzd7WGqO6esPKSoQX7wtVb5+w6h/1xYcQD2WirhqC/t89d6cFbYut++/qS1vj1D8/N7QDjiy6V30/reAOEquP5eYoBgBczSxG8KI/8PCaY3W/CNUeWXtMK+lWefmnc+jyxm71/aLqC6D/fTQCK6f0wqJxXQAAH+y+gsU7zms8t6452v8e3rHBtsgVun1uWZo1a9agZ8+ecHFxgYuLC6KiovDnn39q7HP58mVMnDgRUqkUzs7OGDhwoEGnhgksr0YmjD3eFiKyuujL6Vv5OicupBtZlRxf7LuGDUeT1F8+JDZWGNfdByO6eKGLjwuk9rYor5TjdsEdXM8pRWJmMc6mFODi7SLcLizHpmO3sOnYLQS7O+DZIR3wSF9/ix2ONnfuXEydOrXBfYKDgxEfH4/MzEytx7Kzs7W+eNdWWVmJxx57DDdv3sS+ffsa7O0GAIlEAolEu/iQIam+iDc21Fw1v5sVzYmUan9+NfSZ1pTRLGO6+eBwYo56lAnQ8FDz3RfTNe43mHg73E28O/s4494uXth35W4RsoKyCtzzwX6N5xSXV6Hnsr3q+wkZRZjzneZ84do2HEnCK2O6IKX6gp2j2BoSG+VnibeLHTY+3R8A8Ou5NFxIa/giRHphOS7WmJ52duko9bHqer2l9rboE9gON3NKcTWzBO0cc7X2qYtqqPhTUUF4rfqiwOFXRmDIiv1IzbuDG9nKUQBju/vg+xPJyCzSTnx7+ktRKqvC2O4++GL/da3HAWBgBzd09HTCdyeScStXs7DdiC7K0VUudrZ4sHd7XMkoUs9bV1Y5F/Dugz1gZSVCdnXi3c3PBa/f3xW+Ujv10nEqLnY2cJLY4Hb1BY2nBwfr9FpYGn9/f7z//vsIDVVeqNm0aRMmTZqEuLg4dOvWDdevX8c999yDmTNnYvny5ZBKpbh8+TLs7PQ3rar2W5VTvMmUMfG2EN3bSyG2tkJOSQVu5ZYh2MOx8SdRoy7eLsR/fjin7vEIcnfAtIFBeKSvP1wdxFr7B3s4YlCoh/p+qawKx2/k4o/4dOy5mIGk3DK8/ssFfBJzFU9FBWNaVJD6Kr+l8PDwgIeHR6P7RUVFobCwECdPnkT//soviydOnEBhYSEGDRpU7/NUSXdiYiL2798Pd3f3evc1Jmn1+6PgjvawxZrUFc2ZeFMb5+HhAWtra63e7aysrHovxi1evBgLFixQ3y8qKkJAQECd+77/cE/EJefjodV3h603tExU7YccJfVfLPVwlGBgBzcU3alCZFA7RPhLcfF2EVLzy/Dq9vPIr2fki6xGkTCFoLx43piPYxLUVcBL66nMbatD0TgA6l7lbn4u6qRbRWxtpTHEfGhnT4T7Kodl17fsVxcfZ/QObAdnOxusO3RD47EhnTzVP7d3tYe9rbV6GTYA6BPYDt+fqLsn9KfZg9RTcSKD3fD0hlNa+/i52iMyuB2+q3WMEA9H/GdUZ41tnbw0h5dvOZmCxMwS/PTvQeqieB5OEkTVKDa34uGeiE8rQM/2rugf4gaRCJj+v5OI6uiBV8d2qbPdlm7ChAka9999912sWbMGx48fR7du3bBkyRKMHz8eK1asUO/ToUMHg7aJeTeZMrMbat7UZUYOHjyIvn37ws7ODh06dMDatWtbqaWty87WGt3bK3v9YnX44KaGyRUCvth/DQ9+cQRXMorh7ijGF0/0wf7/DMezQzrUmXTXxVFig/vCvfHxlF449fpILJvQFf7t7JFbWoFP/rqKQe//jTd/vaAxp6+tCA8Px9ixYzFr1iwcP34cx48fx6xZs/DAAw8gLCxMvV+XLl3w888/AwCqqqrwyCOPIDY2Ft999x3kcjkyMjKQkZGBioqGE9zWph5qfqfh5cRSVT3erqxoTm2bWCxG3759ERMTo7E9Jiam3otxEolEPcxVdWtI7eXDKhsYal5Ua7RKQz3eVlYibH0uCrteGgJHiQ1cHcQYHOqBKf0C0dGzZRfCx/fwwWeP91bfj0su0OrRre3fw5RDo5dN6KrxOz83tO6kp4Onk9a2X+cOxqRefnB3FENsbYU3HgjHuB6+WvstHN0Z70/ugc3P9MfueUMRPbkHXhsfjmUTumrsV/N1sLISIchd829eT3/Nud4fPhqBoZ09MWNQsEb9i251DOUHgMggN4yvo33vPtgdNrUuRFhbiTAyXLPGSOytfGQX311j3MNJc5TUY/0C8M6DPfBYvwAEezgiyN0RB14egejJPSx2BFtTyOVybN26FaWlpYiKioJCocAff/yBzp07Y8yYMfDy8sKAAQPwyy+/GLYhzLzJhJlVj7dqmZHVq1dj8ODB+PLLLzFu3DhcunQJgYGBWvvfvHkT48ePx6xZs/Dtt9/iyJEjmDNnDjw9PfHwww8b4TcwrMhgN5xJLsDpW3l4pK+/sZtjtorKK/HiljgcSMgGAIzp5o13H+qh9SHcVA5iG8wYHIJ/DQzCrgsZWHfoOi6kFWHzsVvYeioFL4wIxXPDOmj1Oliy7777Di+++CJGjx4NAJg4cSJWrVqlsU9CQgIKC5XDIVNTU/Hbb78BAHr16qWx3/79+zF8+HCDt1lX6uJqZY30eHOoOZHaggULMG3aNERGRiIqKgrr1q1DcnIyZs+erZfjW9Ual1pVTwVrAFrVtBsqrtaQ2utFP9LXH7FJeUhqIHlu72qvHg2zYFRnhHo5I73gDqL/vIKEGoXK9swbWufzR3fzwZW3x8LO1hqf/p2o7nGf0NMPo7p647ezt9VF0VTnqy3c1wWfTu2ttb22Sb3aI8BN+8Jhp1pFy2oXckuudcG5o6cTege6Ii65AM4SGzzS17/O7zI1P4uXjA9HRy9HnLiZh8ci/WFjbYVJvfzw69nbcHWwxb8GBGFgh7pHRS2b2A2JWSUaFzHGrDyE0V2Voys8nC1rNJqhnD9/HlFRUSgvL4eTkxN+/vlndO3aFRkZGSgpKcH777+Pd955Bx988AF2796NyZMnY//+/Rg2bFi9x5TJZJDJ7k45aKh2Q+1JEZzjTabMrBLvmsuMAMDKlSuxZ88erFmzBtHR0Vr7r127FoGBgVi5ciUAZQ9bbGwsPvzwQ4tMvPtWz/OOTWKPd3Pdyi3FzE2xuJZVAjtbK7w9qTse6euv1znzNtZWmBjhhwk9fXHsei4+33cNx27k4qOYq/jlbBpWPBKh/r+0dG5ubvj2228b3Kdm9d7g4GCzWaPTVYflxARBYHE1ohqmTJmC3NxcvPXWW0hPT0f37t2xa9cuBAUF6eX4tf+UN1TVPL/WRTNdh2/X9tzQDup1pjt7O+HDRyPw4pY4jcTb1lqk0fv+z6sjsPKvRMiqFOhY3Rs9pV8Aov+8guLq5c08nMQI89FMbmtS9cI6iG3UiXf7dvZwcxSjX7Ab9idkqUfcNOXvj5Xo7jD87f8eVGfSDQCDQz0wPSoI51ILsemZ/lqjDUK9nBBfXbX8xXtDYW0lwuon++Cn2FQ8XcfSX+rzW4lgYyVClULAoFB3dPOT4t4ud6civPtQD4zr7ovhYZ4N9kT7t3PAwZdHoLxSjns+2IeckgrklVZg6yllkTjPFl5sbyvCwsJw9uxZFBQUYPv27Zg+fToOHjyoXuJz0qRJmD9/PgDlBfOjR49i7dq1DSbexliJhKg1mM1Qc9UyI6qeMZWGlhk5duyY1v5jxoxBbGwsKivrmW9lhPV+9UVVYC0xq6TOqpzUsD0XMzBx1RFcyyqBj4sdfvy/QXg0MsBghepEIhEGhXrg+1kD8OnUXvBwEuN6dikeXXsU0X9e1qg2S+ZHl+JqhXcq1XM0uewckdKcOXOQlJQEmUyG06dPY+jQunt1m6N28tdQ4l2zx/u+LtpLH+pqxuAQrP1XX9wT6oF3H+oBABprbn8yJQKHX7lX4zkikQjzR3XGonFd1J9Brg5ijerptQt+1ae04u50l3YOdVdfb8qIm6+eioSnswQbnu7X6EXi5ZO645fnB2u0W+Xz6uHzHk5izBisTLR9pfZ44b5ODQ7rB4ADLw/HD/8XhW5+Uq3HnCQ2GNvdR+fh33a21hjb3Udre0tHubUVYrEYoaGhiIyMRHR0NCIiIvDpp5/Cw8MDNjY26NpVc8pBeHh4o1XNm7ISibOd5nvLTK7NUxtlNj3ezVlmJCMjo879q6qqkJOTA19f7blA5nyVzd1Jgi4+zriSUYxj13MxIcLP2E0yC9nFMnwcc7W6sinQK8AV66b1hZeOX2paSiQSYVKv9hje2QvLd17Ejrg0fHnwBvZdzsLHj/VCD3/tLxZk+lQ93rWHq9ak6m3ycJJwjiBRK6g91FyuEOqtmq7q8f71+cHo3r5lf4fHdvfRSO5qJgcTI9prXRCoj4eTWH0xz0fHz6iS8ruJd83fM9zXRV2kzb8JF/7uC/fGqSUNrzyhiyB3RyS9f3+znuvfzgH+7fRXF+OeUA98e1y7KBs1nSAIkMlkEIvF6NevHxISEjQev3r1aqMjWJqyEomfq2YcMO8mU2Y2Pd4qTVlmpL7969quYoz1fvVpcHVF7aPXc4zcEtOXUyLDu39cwpAV+9RJ9/8N7YAf/i+q1ZLumqQOtvh4Si+sm9YXHk5iJGaV4MHVR7DmQN1Lp5Bpc6nu4Skqr6x3/fZUzu8malV15bev/XwBVzI0R7fJquQoqx6NEuzhqHNirKtR1fOI+wS6qo89uU97AMpiavWp+ZekviHetdXXq98v2E39c1v/GzS6qw/eeKCrumd+yfhwrWJvpO21117D4cOHkZSUhPPnz2PJkiU4cOAAnnzySQDAyy+/jG3btuGrr77CtWvXsGrVKuzcuRNz5szRWxtqj44wl+lo1DaZTY93c5YZ8fHxqXN/GxubepcgMsZ6v/o0ONQd6/+5iSPXdFtfsy0or5SjQq6AXC4gr6wCybllOHg1G9tOpaiXMokIcMWrY8MwqGPjy2AZ2uhuPogMdsMbv17AH/HpcHPUHqJHpk/1BU4QlOv11lznV0U9v5vDzIlaRe0eb0C5jvNPp1OQ+O549ba45AL1zy52+v+qFNXRHXvnD4Wv9O5F3vkjO6Orrwsejax7OTQAqKxRDC5Qx8R7/sjO+OSvq5hdXelcZXCoO164NxTOdjZwEJvN10GDsLISYeY9IZjZwNxy0paZmYlp06YhPT0dUqkUPXv2xO7duzFq1CgAwEMPPYS1a9ciOjoaL774IsLCwrB9+3bcc889emuDvVhztBjTbjJlZvOXtuYyIw899JB6e0xMDCZNmlTnc6KiorBz506NbXv37kVkZCRsbS0zmekf4g4bKxGS88qQklem8xVxc1clV+BKRjHikvNxPq0QtwvKkVFUjozCcpTI6l/Oqae/FPNHdsbwME+DzeVuDrfq5cueHJCDqHoqspJpk9hYw0FsjbIKOQruVNSTeCt7vNtKnBIZW12JN6C9rNjUdcfVPxvqs6FzrarfAW4OeHZIw2scLx4XjjnfnQEATOyl23SyufeG4p5OHujmp7kMl0gkwn9Gh9XzLKLGrV+/vtF9nnnmGTzzzDMGa4PERnPwLju8yZSZTeINNL7MyOLFi5GWlobNmzcDAGbPno1Vq1ZhwYIFmDVrFo4dO4b169djy5Ytxvw1DMpJYoOIAFecvpWPo9dzMMVNe5k1SyGrkuNAQjZ+iUvDgYRsde91QxzE1ghyd0SYtxMe6uOPoZ08TCrhrs0UeuCp+aT2tiirkNdbYE21fnuAG3u8iVpDfYl3TfVNDTEF43v44srbYwFA57oQ1laiNrNSBrU91lZmN2uW2jCzSrwbW2YkPT1do1JiSEgIdu3ahfnz5+OLL76An58fPvvsM4tcSqymwaEeOH0rH0eu5WJKP8tLvIvKK/H1oRvYfPyWRuEqZzsb9A5sh14Brghyc4Cv1A7eUjt4OUsgsbGGtZUIViLD9V4Q1Sa1t0V6YXm9BdZU69jqOmSUiFpGl+/oJTWqgHfycjJga5qHhRiJ7rLRc/0FIkMyq8QbUC4zUl9Rho0bN2ptGzZsGM6cOWPgVpmWwR3d8dnfiThyLQcKhQArC/qjdPF2If797Rl1wuLtIsGkXu0xMcIPXX1dLOp3JfPX0JJigiAgJZ+JN1Fr0qXHu7hGFXCHRpa1IiLj0nfhQyJD4ieKBeod2A7OEhvkllYgPq0QvQJcjd0kvfghNgVv/HIBsioFAtzs8dq4cIzu5sM/umSy1EuK1ZF4Z5fIUF6pgJUI8GNxNaJWoVvifTdeTXnYOREx8SbzwokRFkhsY4WhnT0BAH9fzjRya1ruToUcr/x0Dq/8FA9ZlQL3dvHC73OHYFwPX/7BJZPmai8GABRWrwdck2p+t6/UHrbW/FNM1Bp0GWqeUViu/pmfMUSmjTFK5oTf9izUvV28AAB/Xc4yckta5kxyPiau+gc/xKZCJAL+M6ozvn4qss4K0USmRvU+rWuoeUqeqqI5e7uJWosuPd4zNpxS//zOg90N2RwiaiEvZ/NdApjaHg41t1AjunjBSgRcTi9CWsEdtDejoayCIOBsSgG+O5GMn06nAgA8nSX4dGovVvkms6Ka451fR3G1W7mc303U2nRJvGvq3l5qoJYQkT4429li97whGLvysLGbQtQoJt4Wys1RjD6B7RB7Kx/7rmRh2sAgYzdJi1whIDW/DLcLypFXWoHcUhlu5pRi78VMpBXcUe/3aF9/LBrXBe5OvKpJ5sXdUTnUPK9Ue6j59ewSAEAHT9Ormkxkqay5qgWRxeni49L4TkQmgIm3Bbs33Auxt/IRcynTZBLvvNIKbDuVgv1XsnA2tQAVVYo693MQW+O+cG/MGBTM9UfJbKkuFuWWyLQeS8xSJt6hTLyJWo2oCRPs7LlsFxER6RETbws2ppsPVuxOwJFrOcgtkRm1xzg+tQCbj93CznO3IauRbEtsrNDe1R7uTmK4O0rg6SzB4FAPDA/z5FqlZPbcqnu8c2v1eMsVAm5U93h38mbiTdRaGhtqXrOK+XezBhi6OURE1IYw8bZgHT2d0NNfivjUQvwen47pg4Jb9fzllXL8Hp+Ob47fwrmUAvX2Hu2lmNIvAIM6uiPI3ZEVKclieThVJ94lmol3an4ZZFUKiG2s4N+Oc7yJWktjQ80r5HcvDHfy4kUxIiLSHybeFm5Sr/aITy3EL2fTWi3xLq+UY92hG9h4NEk9t1VsbYX7e/riXwOD0CfQFSLOs6M2QNXjfadSjjsVctiLlaM4rlUPM+/gwQtPRK2pvo8eVRzWHJEltuHCL0REpD9MvC3chAhfvPvHJcQlFyAppxTBHo4GPd/R6zl4bcd5JFVXbG7vao8nBgRiSr8AeLA4GrUxThIbiK2tUCFXILdUBn+xsndblXiHskeNqFXVN9RcEJRDzGvWHRFbM/EmIiL94aeKhfNytsOQTp4AgO9PJhvsPIIg4OvDN/Dk1yeQlFsGbxfl8l8HXx6O50eEMummNkkkEsG9juHmqsJqnbycjdIuoraqvhEmCkFZe0E11FxsY8WRWUREpFdMvNuAp6KUFc23nkxGWUWV3o9fKVdgyS8X8M4flyEIyuW//lowDJN6tYcNewyojXOrY0mxxMxiACysRtTaGprZUSlXQFYpB6As/ElERKRP/GRpA4aHeSHQzQFF5VX4Je62Xo9dKqvCMxtP4fsTyRCJgNfvD8eKR3rC2c5Wr+chMleq1QRyqpcUkysEJFQn3mE+7PEmak0N9WJXyhXYczETAFBcrv+L1ERE1LYx8W4DrK1E6l7vtQevo1Je99rZTVVUXomn/ncShxNz4CC2xrppkXh2SAcOzyOqwb1Wj3dyXhnKKxWQ2Fgh2N2wNReISHd7L2big91XjN0MIiKyUEy824gnBgTCw0mM5Lwy/BCb0uLjyRUCXtoSh9O38iG1t8X3swZiVFdvPbSUyLKolhTLKlb2eF9JLwKg7O1mRXMi01FUXslK5kREZDD8hGkjHMQ2mDsiFADwSUwiCssqW3S8T2KuYn9CNiQ2VvhmZn/0CnDVQyuJLI+fqz0AIL3wDgDgckb1MHNvDjMnMqbaRT+X77ykrmr+/IiOxmgSERFZMCbebcjjAwLRwdMROSUyvN+C4XQ7z93Gqv3XAAAfPNwTPf1d9dRCIsvjK1Um3mkF5QCAhAxlj3cXXxejtYmIgPu6eOHAwuEY2tlT6zFbFgYlIiI94ydLGyKxsUb0Qz0AAFtOJuPEjdwmHyM+tQALfzwHAHhuaAc82Lu9XttIZGnaq3q8C5Q93leqe7zDWViNyKgUgoBgD0dcqy52WJOD2NoILSIiIkvGxLuNGdDBHY/3DwAAvLo9HiUy3Su3ZhaVY9bmWMiqFLi3ixdeHdvFUM0kshh+rnYAlHO8C8oqkJxXBoAVzYmMTS4IAIDyKu2Co08OCGrt5hARkYVj4t0GLRobDj+pHZJyy7Dk5/MQqr98NKSwrBLPbopFZpEMnbyc8OnUXiwMRaQDN0cx7GyVf2r/vpwFQVDOLXWvNb+UiFqXXKH87Ku90kf/YDc4SmyM0SQiIrJgTLzbIKmDLT57vDesrUT49extfLA7ocHkO7tYhie+Po7zaYVo52CL9dP7cZ1uIh2JRCJ08lL2bm89lQwA6BUgNWaTiAhAVXXiXSXX/Pwrq+Qa3kREpH9MvNuoyGA3LJvYDYBybe/lOy+hqo71veOS8zHh839w8XYR3B3F2PLcQAS6O7R2c4nMWpfqYeWnkvIBAH2C2hmzOUQEQF6dcN+plGtsL5PJ69qdiGpZs2YNevbsCRcXF7i4uCAqKgp//vmn+vEZM2ZAJBJp3AYOHGjEFhMZF8dStWHTBgYBgoA3fr2IjUeTcCm9CK/fH47uflIkZpXgm+NJ+P5EMhQC0NHTEV89FYkOnk7GbjaR2ak9n7tfsJuRWkJEKlUK5cVmO1srlFfevfD8VBTndxPpwt/fH++//z5CQ5XL1W7atAmTJk1CXFwcunVTdu6MHTsWGzZsUD9HLBYbpa1EpoCJdxs3LSoY7k4S/OeHczh5Mw8TVx3R2mdihB/efag7h5cTNdOAEHf1z57OEvQJZI83kbFJbJWVyzc+3R+v/3IBr4wJg4u9LfrzwhiRTiZMmKBx/91338WaNWtw/PhxdeItkUjg4+NjjOYRmRwONSeM7+GLvfOH4oGevhDbKN8SYmsrjAz3xvezBuCzx3sz6SZqge7tXTCmmzdsrER4eUwYCxMSGdETAwIhtrHCf0Z1BgAM7OCOvxYMw+huPhjYwR1WjE+iJpPL5di6dStKS0sRFRWl3n7gwAF4eXmhc+fOmDVrFrKysho9lkwmQ1FRkcatMSse7gkA+PDRiOb/EkQGJhJ0KWltAvLz8/Hiiy/it99+AwBMnDgRn3/+OVxdXevcv7KyEq+//jp27dqFGzduQCqVYuTIkXj//ffh5+en83mLiooglUpRWFgIFxcXffwqJk1WJUfRnSq42NtAYsN1TE1ZW3tv6pMxXjuFQkBJRRVceBGLGsC4bhldXj9BECCrUsDOlp9x1HosNbbPnz+PqKgolJeXw8nJCd9//z3Gjx8PANi2bRucnJwQFBSEmzdv4o033kBVVRVOnz4NiaT+lT2WLVuG5cuXa21v7LUrr5QzrqlVNTWuzSbxHjduHFJTU7Fu3ToAwHPPPYfg4GDs3Lmzzv0LCwvxyCOPYNasWYiIiEB+fj7mzZuHqqoqxMbG6nxeS/1DSeaP783m42tHporvzZbh60emylLfmxUVFUhOTkZBQQG2b9+Or7/+GgcPHkTXrl219k1PT0dQUBC2bt2KyZMn13tMmUwGmUymvl9UVISAgACLe+3I/DU1rs1ijvfly5exe/duHD9+HAMGDAAAfPXVV4iKikJCQgLCwsK0niOVShETE6Ox7fPPP0f//v2RnJyMwMDAVmk7EREREZElEovF6uJqkZGROHXqFD799FN8+eWXWvv6+voiKCgIiYmJDR5TIpE02CNOZK7MYo73sWPHIJVK1Uk3AAwcOBBSqRRHjx7V+TiFhYUQiUT1Dk8HmjevhIiIiIiorRMEQaO3uqbc3FykpKTA19e3lVtFZBrMIvHOyMiAl5eX1nYvLy9kZGTodIzy8nIsWrQITzzxRINDAaKjoyGVStW3gICAZrebiIiIiMgSvfbaazh8+DCSkpJw/vx5LFmyBAcOHMCTTz6JkpISLFy4EMeOHUNSUhIOHDiACRMmwMPDAw899JCxm05kFEZNvJctWwaRSNTgTTUfWyTSrjIqCEKd22urrKzE1KlToVAosHr16gb3Xbx4MQoLC9W3lJSU5v1yREREREQWKjMzE9OmTUNYWBjuu+8+nDhxArt378aoUaNgbW2N8+fPY9KkSejcuTOmT5+Ozp0749ixY3B2djZ204mMwqhzvOfOnYupU6c2uE9wcDDi4+ORmZmp9Vh2dja8vb0bfH5lZSUee+wx3Lx5E/v27Wt04jvnlRARERERNWz9+vX1PmZvb489e/a0YmuITJ9RE28PDw94eHg0ul9UVBQKCwtx8uRJ9O/fHwBw4sQJFBYWYtCgQfU+T5V0JyYmYv/+/XB3d9db24mIiIiIiIh0YRZzvMPDwzF27FjMmjULx48fx/HjxzFr1iw88MADGhXNu3Tpgp9//hkAUFVVhUceeQSxsbH47rvvIJfLkZGRgYyMDFRUVBjrVyEiIiIiIqI2xiyWEwOA7777Di+++CJGjx4NAJg4cSJWrVqlsU9CQgIKCwsBAKmpqfjtt98AAL169dLYb//+/Rg+fLhO51Utc87q5mRqVO9J1XuUdMe4JlPFuG4ZxjaZKsZ28zGuyVQ1Na7NJvF2c3PDt99+2+A+NX/p4OBgvfxxKy4uBgBWNyeTVVxcDKlUauxmmBXGNZk6xnXzMLbJ1DG2m45xTaZO17gWCbz01iCFQoHbt2/D2dm5zgrqRUVFCAgIQEpKSqOF24ivV1M09loJgoDi4mL4+fnBysosZo2YDMa1fvH1apqGXi/Gdcs0FNt8nzYNX6+m4We24TCu9YevV9PoO67NpsfbWKysrODv79/ofi4uLnwDNwFfL9019FrxqnnzMK4Ng69X09T3ejGum0+X2Ob7tGn4ejUNP7P1j3Gtf3y9mkZfcc1LbkREREREREQGxMSbiIiIiIiIyICYeLeQRCLB0qVLIZFIjN0Us8DXS3d8rYyHr33T8PVqGr5exsHXvWn4ejUNXy/j4OveNHy9mkbfrxeLqxEREREREREZEHu8iYiIiIiIiAyIiTcRERERERGRATHxJiIiIiIiIjIgJt4tsHr1aoSEhMDOzg59+/bF4cOHjd0kk7Rs2TKIRCKNm4+Pj7GbZTIOHTqECRMmwM/PDyKRCL/88ovG44IgYNmyZfDz84O9vT2GDx+OixcvGqexbQDjWjeM64Yxrk0PY1s3jO2GMbZNC+NaN4zrhrVWXDPxbqZt27Zh3rx5WLJkCeLi4jBkyBCMGzcOycnJxm6aSerWrRvS09PVt/Pnzxu7SSajtLQUERERWLVqVZ2Pr1ixAh9//DFWrVqFU6dOwcfHB6NGjUJxcXErt9TyMa6bhnFdP8a1aWFsNw1ju36MbdPBuG4axnX9Wi2uBWqW/v37C7Nnz9bY1qVLF2HRokVGapHpWrp0qRAREWHsZpgFAMLPP/+svq9QKAQfHx/h/fffV28rLy8XpFKpsHbtWiO00LIxrnXHuNYd49r4GNu6Y2zrjrFtXIxr3TGudWfIuGaPdzNUVFTg9OnTGD16tMb20aNH4+jRo0ZqlWlLTEyEn58fQkJCMHXqVNy4ccPYTTILN2/eREZGhsZ7TSKRYNiwYXyv6RnjuukY183DuG5djO2mY2w3D2O79TCum45x3Tz6jGsm3s2Qk5MDuVwOb29vje3e3t7IyMgwUqtM14ABA7B582bs2bMHX331FTIyMjBo0CDk5uYau2kmT/V+4nvN8BjXTcO4bj7GdetibDcNY7v5GNuth3HdNIzr5tNnXNvorVVtkEgk0rgvCILWNgLGjRun/rlHjx6IiopCx44dsWnTJixYsMCILTMffK+1Hr7WumFctxzfa62Lr7duGNstx/da6+FrrRvGdcvp473GHu9m8PDwgLW1tdZVjqysLK2rIaTN0dERPXr0QGJiorGbYvJUFSf5XjM8xnXLMK51x7huXYztlmFs646x3XoY1y3DuNadPuOaiXcziMVi9O3bFzExMRrbY2JiMGjQICO1ynzIZDJcvnwZvr6+xm6KyQsJCYGPj4/Ge62iogIHDx7ke03PGNctw7jWHeO6dTG2W4axrTvGduthXLcM41p3+oxrDjVvpgULFmDatGmIjIxEVFQU1q1bh+TkZMyePdvYTTM5CxcuxIQJExAYGIisrCy88847KCoqwvTp043dNJNQUlKCa9euqe/fvHkTZ8+ehZubGwIDAzFv3jy899576NSpEzp16oT33nsPDg4OeOKJJ4zYasvEuNYd47phjGvTwtjWHWO7YYxt08G41h3jumGtFtctLbneln3xxRdCUFCQIBaLhT59+ggHDx40dpNM0pQpUwRfX1/B1tZW8PPzEyZPnixcvHjR2M0yGfv37xcAaN2mT58uCIJyGYOlS5cKPj4+gkQiEYYOHSqcP3/euI22YIxr3TCuG8a4Nj2Mbd0wthvG2DYtjGvdMK4b1lpxLRIEQWjBBQIiIiIiIiIiagDneBMREREREREZEBNvIiIiIiIiIgNi4k1ERERERERkQEy8iYiIiIiIiAyIiTcRERERERGRATHxJiIiIiIiIjIgJt5EREREREREBsTEm4iIiIiIiMiAmHi3McuWLUOvXr2M3Yx6bdy4ESKRCCKRCPPmzWuVcy5btkx9zpUrV7bKOYn0iXGtjXFNloCxrY2xTeaOca2trcQ1E28LonrD1nebMWMGFi5ciL///rvV23bgwAGIRCIUFBQ0uq+LiwvS09Px9ttvG75hABYuXIj09HT4+/u3yvmImoJx3TyMazJ1jO3mYWyTKWNcN09biWsbYzeA9Cc9PV3987Zt2/Dmm28iISFBvc3e3h5OTk5wcnIyRvN0JhKJ4OPj02rnU70m1tbWrXZOIl0xrpuHcU2mjrHdPIxtMmWM6+ZpK3HNHm8L4uPjo75JpVJ10NTcVnt4y4wZM/Dggw/ivffeg7e3N1xdXbF8+XJUVVXh5ZdfhpubG/z9/fG///1P41xpaWmYMmUK2rVrB3d3d0yaNAlJSUl1tispKQkjRowAALRr1059xa8pVq9ejU6dOsHOzg7e3t545JFH1I8JgoAVK1agQ4cOsLe3R0REBH766SeN51+8eBH3338/XFxc4OzsjCFDhuD69etNagORMTCuGddkmRjbjG2yPIxrxnVD2ONN2LdvH/z9/XHo0CEcOXIEM2fOxLFjxzB06FCcOHEC27Ztw+zZszFq1CgEBASgrKwMI0aMwJAhQ3Do0CHY2NjgnXfewdixYxEfHw+xWKxx/ICAAGzfvh0PP/wwEhIS4OLiAnt7e53bFxsbixdffBHffPMNBg0ahLy8PBw+fFj9+Ouvv44dO3ZgzZo16NSpEw4dOoR//etf8PT0xLBhw5CWloahQ4di+PDh2LdvH1xcXHDkyBFUVVXp7TUkMjWMayLLxNgmsjyM6zZCIIu0YcMGQSqVam1funSpEBERob4/ffp0ISgoSJDL5eptYWFhwpAhQ9T3q6qqBEdHR2HLli2CIAjC+vXrhbCwMEGhUKj3kclkgr29vbBnz54627N//34BgJCfn9/kdm/fvl1wcXERioqKtPYvKSkR7OzshKNHj2psnzlzpvD4448LgiAIixcvFkJCQoSKiooGzx0UFCR88sknDe5DZEyMa8Y1WSbGNmObLA/jmnFdG3u8Cd26dYOV1d1ZB97e3ujevbv6vrW1Ndzd3ZGVlQUAOH36NK5duwZnZ2eN45SXlxtkyMioUaMQFBSEDh06YOzYsRg7diweeughODg44NKlSygvL8eoUaM0nlNRUYHevXsDAM6ePYshQ4bA1tZW720jMlWMayLLxNgmsjyM67aBiTdpBYFIJKpzm0KhAAAoFAr07dsX3333ndaxPD099d4+Z2dnnDlzBgcOHMDevXvx5ptvYtmyZTh16pS6TX/88Qfat2+v8TyJRAIATRpKQ2QpGNdElomxTWR5GNdtAxNvarI+ffpg27Zt8PLygouLi07PUc01kcvlzTqnjY0NRo4ciZEjR2Lp0qVwdXXFvn37MGrUKEgkEiQnJ2PYsGF1Prdnz57YtGkTKisr2/yVNqL6MK6JLBNjm8jyMK7NE6uaU5M9+eST8PDwwKRJk3D48GHcvHkTBw8exEsvvYTU1NQ6nxMUFASRSITff/8d2dnZKCkp0fl8v//+Oz777DOcPXsWt27dwubNm6FQKBAWFgZnZ2csXLgQ8+fPx6ZNm3D9+nXExcXhiy++wKZNmwAAc+fORVFREaZOnYrY2FgkJibim2++0VjegaitY1wTWSbGNpHlYVybJybe1GQODg44dOgQAgMDMXnyZISHh+OZZ57BnTt36r3q1r59eyxfvhyLFi2Ct7c35s6dq/P5XF1dsWPHDtx7770IDw/H2rVrsWXLFnTr1g0A8Pbbb+PNN99EdHQ0wsPDMWbMGOzcuRMhISEAAHd3d+zbtw8lJSUYNmwY+vbti6+++qpNX3Ejqo1xTWSZGNtElodxbZ5EgiAIxm4EkcrGjRsxb948FBQUtPq5g4ODMW/ePMybN6/Vz01kyRjXRJaJsU1keRjXhsMebzI5hYWFcHJywquvvtoq53vvvffg5OSE5OTkVjkfUVvEuCayTIxtIsvDuDYM9niTSSkuLkZmZiYA5bAWDw8Pg58zLy8PeXl5AJSVIKVSqcHPSdSWMK6JLBNjm8jyMK4Nh4k3ERERERERkQFxqDkRERERERGRATHxJiIiIiIiIjIgJt5EREREREREBsTEm4iIiIiIiMiAmHgTERERERERGRATbyIiIiIiIiIDYuJNREREREREZEBMvImIiIiIiIgMiIk3ERERERERkQH9P8hx5ibBiGZwAAAAAElFTkSuQmCC",
      "text/plain": [
       "<Figure size 1000x600 with 5 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Put together the input for the system\n",
    "U = np.vstack([\n",
    "    np.outer(xe, np.ones_like(T)),      # xd\n",
    "    np.outer(ue, np.ones_like(T)),      # ud\n",
    "    V, W                                # disturbances and noise\n",
    "])\n",
    "X0 = np.hstack([x0, np.zeros(pvtol.nstates), P0.reshape(-1)])\n",
    "\n",
    "# Initial condition response\n",
    "resp = ct.input_output_response(clsys, T, U, X0)\n",
    "\n",
    "# Plot the response\n",
    "plot_results(T, resp.states, resp.outputs[pvtol.nstates:])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "c5f24119",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "<>:16: SyntaxWarning: invalid escape sequence '\\h'\n",
      "<>:16: SyntaxWarning: invalid escape sequence '\\h'\n",
      "<>:16: SyntaxWarning: invalid escape sequence '\\h'\n",
      "<>:16: SyntaxWarning: invalid escape sequence '\\h'\n",
      "/var/folders/3h/8vlrqzts6wnd_p5xvy01zclc0000gn/T/ipykernel_62492/1696903767.py:16: SyntaxWarning: invalid escape sequence '\\h'\n",
      "  [h1, h2, h3, h4], ['$x$', '$y$', '$\\hat{x}$', '$\\hat{y}$'],\n",
      "/var/folders/3h/8vlrqzts6wnd_p5xvy01zclc0000gn/T/ipykernel_62492/1696903767.py:16: SyntaxWarning: invalid escape sequence '\\h'\n",
      "  [h1, h2, h3, h4], ['$x$', '$y$', '$\\hat{x}$', '$\\hat{y}$'],\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x137f30190>"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Response of the first two states, including internal estimates\n",
    "plt.figure()\n",
    "h1, = plt.plot(resp.time, resp.outputs[0], 'b-', linewidth=0.75)\n",
    "h2, = plt.plot(resp.time, resp.outputs[1], 'r-', linewidth=0.75)\n",
    "\n",
    "# Add on the internal estimator states\n",
    "xh0 = clsys.find_output('xh0')\n",
    "xh1 = clsys.find_output('xh1')\n",
    "h3, = plt.plot(resp.time, resp.outputs[xh0], 'k--')\n",
    "h4, = plt.plot(resp.time, resp.outputs[xh1], 'k--')\n",
    "\n",
    "plt.plot([0, 10], [0, 0], 'k--', linewidth=0.5)\n",
    "plt.ylabel(\"Position $x$, $y$ [m]\")\n",
    "plt.xlabel(\"Time $t$ [s]\")\n",
    "plt.legend(\n",
    "    [h1, h2, h3, h4], ['$x$', '$y$', '$\\hat{x}$', '$\\hat{y}$'], \n",
    "    loc='upper right', frameon=False, ncol=2)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "0c0d5c99",
   "metadata": {},
   "source": [
    "### Full state feedback\n",
    "\n",
    "As a comparison, we can investigate the response of the system if the exact state was available:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "3b6a1f1c",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/Users/murray/Library/CloudStorage/Dropbox/macosx/src/python-control/murrayrm/control/statefbk.py:788: UserWarning: cannot verify system output is system state\n",
      "  warnings.warn(\"cannot verify system output is system state\")\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Compute the full state feedback solution\n",
    "lqr_ctrl, _ = ct.create_statefbk_iosystem(pvtol, K)\n",
    "\n",
    "lqr_clsys = ct.interconnect(\n",
    "    [pvtol_noisy, lqr_ctrl],\n",
    "    inplist = lqr_ctrl.input_labels[0:pvtol.ninputs + pvtol.nstates] + \\\n",
    "        pvtol_noisy.input_labels[pvtol.ninputs:],\n",
    "    inputs = lqr_ctrl.input_labels[0:pvtol.ninputs + pvtol.nstates] + \\\n",
    "        pvtol_noisy.input_labels[pvtol.ninputs:],\n",
    "    outlist = pvtol.output_labels + lqr_ctrl.output_labels,\n",
    "    outputs = pvtol.output_labels + lqr_ctrl.output_labels\n",
    ")\n",
    "\n",
    "# Put together the input for the system\n",
    "U = np.vstack([\n",
    "    np.outer(xe, np.ones_like(T)),      # xd\n",
    "    np.outer(ue, np.ones_like(T)),      # ud\n",
    "    V, W * 0                            # disturbances and noise\n",
    "])\n",
    "\n",
    "# Run a simulation with full state feedback\n",
    "lqr_resp = ct.input_output_response(lqr_clsys, T, U, x0)\n",
    "\n",
    "# Compare the results\n",
    "plt.plot(resp.states[0], resp.states[1], 'b-', label=\"Extended KF\")\n",
    "plt.plot(lqr_resp.states[0], lqr_resp.states[1], 'r-', label=\"Full state\")\n",
    "\n",
    "plt.xlabel('$x$ [m]')\n",
    "plt.ylabel('$y$ [m]')\n",
    "plt.axis('equal')\n",
    "plt.legend(frameon=False);"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "dc86067c",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.13.1"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
